دانلود مقاله ISI انگلیسی شماره 158006
کد مقاله سال انتشار مقاله انگلیسی ترجمه فارسی تعداد کلمات
158006 2018 11 صفحه PDF سفارش دهید 4854 کلمه
خرید مقاله
پس از پرداخت، فوراً می توانید مقاله را دانلود فرمایید.
عنوان انگلیسی
Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : Mechanism and Machine Theory, Volume 120, February 2018, Pages 192-202

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چکیده انگلیسی

In this paper, a parallel mechanism with 3-UPR architecture for a robotic leg application is analyzed for design purposes. The proposed morphology is characterized by the convergence of the three chains to a single point of the moving platform. First, the mechanism is described and its inverse and forward kinematic problems are solved analytically. Its Jacobian matrix is computed to evaluate the singular positions of the end-effector. Then, workspace volume, manipulator dexterity, static efficiency and stiffness are chosen as objective functions for a multi-objective optimization in order to decide the geometrical parameters of the mechanism. The objective functions are mapped in the parameter space and an optimal solution is discussed as suitable for a future prototype.

خرید مقاله
پس از پرداخت، فوراً می توانید مقاله را دانلود فرمایید.