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A multi-level optimization methodology for determining the dextrous workspaces of planar parallel manipulators

โœ Scribed by A.M. Hay; J.A. Snyman


Publisher
Springer-Verlag
Year
2005
Tongue
English
Weight
216 KB
Volume
30
Category
Article
ISSN
1615-1488

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A mathematical optimization methodology
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A general optimization methodology for the optimal design of robotic manipulators is presented and illustrated by its application to a realistic and practical three-link revolute-joint planar manipulator. The end-effector carries out a prescribed vertical motion for which, respectively, the average