@inproceedings{40af9359f8c5426cab0e7f086636de06,
title = "Dynamic dimensional synthesis of a precision 6-DOF parallel manipulator",
abstract = "This paper presents the dynamic dimensional synthesis of a 6-degree-of-freedom (6-DOF) precision parallel manipulator with 3 inextensible links. The dynamic model of the parallel manipulator is provided in detail based on the inverse kinematics. A novel global dynamic performance index of parallel manipulator defined by the maximum driving torque of a single active joint is proposed as the optimization objective function. General design requirements of parallel manipulators such as workspace, speed and accuracy are transformed into polynomial inequalities and combined into a compact linear matrix inequality, thus the dynamic dimensional synthesis is transformed into a max det optimization problem. A set of optimized dimensional parameters of the parallel manipulator is obtained for achieving a good dynamic performance throughout the entire workspace of the manipulator.",
keywords = "Parallel manipulator, dimensional synthesis, dynamic performance",
author = "Fangyong Wu and Lefeng Wang and Weibin Rong and Lining Sun",
year = "2012",
doi = "10.1109/ICMA.2012.6283250",
language = "英语",
isbn = "9781467312776",
series = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",
pages = "831--836",
booktitle = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",
note = "2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 ; Conference date: 05-08-2012 Through 08-08-2012",
}