| contributor author | C. Gosselin | |
| contributor author | J. Angeles | |
| date accessioned | 2017-05-08T23:30:36Z | |
| date available | 2017-05-08T23:30:36Z | |
| date copyright | June, 1989 | |
| date issued | 1989 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28101#202_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/105728 | |
| description abstract | In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator | |
| type | Journal Paper | |
| journal volume | 111 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3258984 | |
| journal fristpage | 202 | |
| journal lastpage | 207 | |
| identifier eissn | 1528-9001 | |
| keywords | Design | |
| keywords | Manipulators | |
| keywords | Numerical analysis AND Isotropy | |
| tree | Journal of Mechanical Design:;1989:;volume( 111 ):;issue: 002 | |
| contenttype | Fulltext | |