It is a generally well-known fact that the design of parallel mechanisms while optimizing performance is quite difficult. In this paper, a reliable synthesis method capable of optimally selecting the geometrical parameters of planar parallel mechanisms is presented. Three different architectures are considered and a genetic algorithm is used to perform the optimization. The performance of each mechanism is evaluated according to four different criteria: workspace, singular configurations, dexterity, and stiffness. In order to make the synthesis method as realistic as possible, mechanical constraints affecting the angular rotation of the 2-RR and 3-RR mechanisms’ passive revolute joints are considered. Moreover, since the conventional methods for computing the dexterity and the stiffness index are not valid for the 3-RR and 3-RR mechanisms, an alternative computation method is used.
Synthesis of Planar Parallel Mechanisms While Considering Workspace, Dexterity, Stiffness and Singularity Avoidance
Arsenault, M., and Boudreau, R. (April 12, 2005). "Synthesis of Planar Parallel Mechanisms While Considering Workspace, Dexterity, Stiffness and Singularity Avoidance." ASME. J. Mech. Des. January 2006; 128(1): 69–78. https://doi.org/10.1115/1.2121747
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