Abstract
In this paper, a novel 3DOF hybrid manipulator 3PU*S-PU is proposed based on the general function (Gf) set theory. After discussing the advantages of this new type of manipulator, the kinematic and Jacobian matrix of this manipulator are first analyzed, then the kinematic performances which include stiffness/compliance and workspace are analyzed and optimized, and the multi-objective optimization on the compliance and workspace is subsequently conducted.
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CITATION STYLE
Zhang, D., & Wei, B. (2014). Design and optimization of a tripod-based hybrid manipulator. In Mechanisms and Machine Science (Vol. 22, pp. 83–91). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-07058-2_10
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