Design Optimization of a 3 DOF Translational Parallel Manipulator
نویسندگان
چکیده
This paper presents an optimal kinematic design of a 3PRC (prismatic-revolute-cylindrical) spatial translational parallel manipulator with inclined actuator arrangement by formulating a multi-objective optimization problem. Three performance criteria’s namely Global Conditioning Index (GCI), Global stiffness Index (GSI) and Workspace volume are considered as the objective functions. A multi-objective evolutionary algorithm based on the control elitist nondominated sorting genetic algorithm (CENSGA) is adopted to find the final approximation set.
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