Optimized planar 3prr mechanism for 5 degrees-of-freedom hybrid kinematics manipulator

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Abstract

Hybrid kinematics mechanisms combines the advantages of purely serial and purely parallel kinematics mechanisms. Several hybrid kinematics mechanisms have been proposed. This paper proposes a novel hybrid kinematics mechanism using planar 3PRR planar kinematics mechanism, which can be utilized for machine tool. As the common main drawback of parallel mechanism is the workspace, the proposed mechanism has been optimized by using constrained nonlinear optimization. It is shown that the optimization gives significant improvement of the workspace area and shape.

Original languageBritish English
Title of host publicationSystems, Design, and Complexity
ISBN (Electronic)9780791857540
DOIs
StatePublished - 2015
EventASME 2015 International Mechanical Engineering Congress and Exposition, IMECE 2015 - Houston, United States
Duration: 13 Nov 201519 Nov 2015

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume11-2015

Conference

ConferenceASME 2015 International Mechanical Engineering Congress and Exposition, IMECE 2015
Country/TerritoryUnited States
CityHouston
Period13/11/1519/11/15

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