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Optimization and Stiffness Performance Analysis for 3-DOF Spatial and Spherical Parallel Mechanisms

[+] Author Affiliations
Dan Zhang

York University, Toronto, ON, Canada

Bin Wei

University of Ontario Institute of Technology, Oshawa, ON, Canada

Paper No. IMECE2016-66682, pp. V04AT05A051; 10 pages
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5054-1
  • Copyright © 2016 by ASME


This paper focuses on the optimization and stiffness performance analysis of three kinds of three degrees of freedom (DOF) spatial and spherical parallel mechanisms. Firstly, the kinematic model and the Jacobian matrix for the 3-DOF parallel mechanisms are established and solved, and the objective functions for stiffness and workspace optimization are formed; secondly, by using stiffness and workspace as objective functions and applying different multi-objective optimization methods, the general procedure for the multi-objective optimization problem for the parallel mechanisms are established. Finally, the correspondence and the differences between several stiffness models are compared and illustrated.

Copyright © 2016 by ASME



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