Multiobjective Design Optimization of 3-PRR Planar Parallel Manipulators
Résumé
This paper addresses the dimensional synthesis of parallel kinematics machines. A multiobjective optimization problem is proposed in order to determine optimum structural and geometric parameters of parallel manipulators. The proposed approach is applied to the optimum design of a three-degree-of-freedom planar parallel manipulator in order to minimize the mass of the mechanism in motion and to maximize its regular shaped workspace.
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