Design of Linear Delta Robot: Compromise Between Manipulability and Workspace Size. Stock, M. and Miller, K. In Romansy 14, January, 2002. Springer.
Design of Linear Delta Robot: Compromise Between Manipulability and Workspace Size [link]Paper  doi  abstract   bibtex   
An optimal kinematic design method suited for parallel manipulators is developed. The kinematic optimization process yields a design, which delivers the best compromise between manipulability and a new performance index, space utilization. It is shown that the exhaustive search minimization algorithm is effective for as many as four independent design variables and presents a viable alternative to advanced non-linear programming methods. The manipulability generally exhibits relatively little variation when compared to space utilization. The tendency exists for the solution to converge on a zero workspace size architecture when manipulability is optimized alone. The inclusion of the space utilization index in the cost function is crucial for obtaining realistic design candidates.
@InProceedings{2002janstockmillerR1design,
  author    = {Stock, Michael and Miller, Karol},
  title     = {Design of Linear Delta Robot: Compromise Between Manipulability and Workspace Size},
  booktitle = {Romansy 14},
  year      = {2002},
  month     = jan,
  publisher = {Springer},
  abstract  = {An optimal kinematic design method suited for parallel manipulators is developed. The kinematic optimization process yields a design, which delivers the best compromise between manipulability and a new performance index, space utilization. It is shown that the exhaustive search minimization algorithm is effective for as many as four independent design variables and presents a viable alternative to advanced non-linear programming methods. The manipulability generally exhibits relatively little variation when compared to space utilization. The tendency exists for the solution to converge on a zero workspace size architecture when manipulability is optimized alone. The inclusion of the space utilization index in the cost function is crucial for obtaining realistic design candidates.},
  date      = {2002-01-01},
  doi       = {10.1007/978-3-7091-2552-6_42},
  url       = {http://dx.doi.org/10.1007/978-3-7091-2552-6_42},
}
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