Abstract
The optimal multiple orientation synthesis methodology presented in this paper is aimed at determining designs of a three degrees of freedom (3-dof) planar parallel manipulator, so that the manipulator reaches, with optimal conditioning, all points in a prescribed output workspace for multiple specified constant (fixed) orientations of the manipulator platform. The optimum conditioning with respect to the manipulator design variables is obtained by minimizing the condition number over the enclosed prescribed physical workspace for all the different prescribed discrete fixed orientations. The proposed optimization methodology produces convincing results, indicating it to be a stable and efficient numerical method for designing planar parallel manipulators.
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