Optimal design of two, three and four legs 3-DOF planar parallel manipulators

In this paper, the optimal designs of three planar 3-DOF parallel manipulators with 4-RPR, 3-RPR and 2-RPR structures are compared. The optimization of themanipulators are performed based on dexterity index, subject to constant orientation workspace. The optimizations are performed using particle swarmoptimizer with Semi-active congregation which improves the performance of PSO with passive congregation. Finally, it is shown that the 4-RPRparallel manipulator has a better performance than 2- RPR and 3-RPR manipulators according to the dexterityindex

کلیدواژه ها:

Manipulator ، dexterity ، optimization ، semiactive congregation