This research paper focuses on the workspace optimization of parallel manipulators known as 1T2R (one-translational two-rotational) using a novel method involving a dimensionally homogeneous constraint-embedded Jacobian. The authors propose a point-based approach to solve the problem of dimensional inconsistency in these manipulators, and provide a simpler formulation than previous methods, eliminating complex partial differentiation. This method was analytically proven and validated using a 3-PRS manipulator. The approach was also applied to an asymmetric 2-RRS/RRRU manipulator, demonstrating its efficiency and simplicity. The optimization results showed that the proposed method outperforms conventional techniques.
Publication date: 3 Nov 2023
Project Page: https://doi.org/10.1016/j.mechmachtheory.2023.105391
Paper: https://arxiv.org/pdf/2311.00952
