TY - GEN
T1 - Optimized planar 3prr mechanism for 5 degrees-of-freedom hybrid kinematics manipulator
AU - Rosyid, Abdur
AU - El-Khasawneh, Bashar
AU - Alazzam, Anas
N1 - Publisher Copyright:
© 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84982883498&partnerID=8YFLogxK
U2 - 10.1115/IMECE201551371
DO - 10.1115/IMECE201551371
M3 - Conference contribution
AN - SCOPUS:84982883498
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Systems, Design, and Complexity
T2 - ASME 2015 International Mechanical Engineering Congress and Exposition, IMECE 2015
Y2 - 13 November 2015 through 19 November 2015
ER -