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Comparison of Planar Parallel Manipulator Architectures Based on a Multi-Objective Design Optimization Approach

[+] Author Affiliations
Damien Chablat, Stéphane Caro, Raza Ur-Rehman, Philippe Wenger

Institut de Recherche en Communications et Cybernétique de Nantes, Nantes, France

Paper No. DETC2010-28650, pp. 861-870; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular workspace size, i.e., the objective functions. The optimization problem is subject to constraints on the manipulator dexterity and stiffness. For a given external wrench, the displacements of the moving platform have to be smaller than given values throughout the obtained maximum regular dexterous workspace. The contributions of the paper are highlighted with the study of 3-P RR, 3-RP R and 3-R RR planar parallel manipulator architectures, which are compared by means of their Pareto frontiers obtained with a genetic algorithm.

Copyright © 2010 by ASME



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