The design of a robotic manipulator begins with the dimensioning of its various links to meet
performance specifications. However, a methodology for the determination of the …

In this paper, a method is presented for the synthesis of 3‐R RR planar parallel
mechanisms. The method uses a genetic algorithm while considering three different design …

This paper presents a genetic algorithm approach for the synthesis of planar three-degree-of-
freedom parallel manipulators. A genetic algorithm is an optimization method inspired by …

The present paper is about a detailed review of planar parallel manipulators. Planar parallel
manipulators have three degrees of freedom, one linear motion along the X-direction, one …

It is a generally well-known fact that the design of parallel mechanisms while optimizing
performance is quite difficult. In this paper, a reliable synthesis method capable of optimally …

The synthesis of three‐degree‐of‐freedom planar parallel manipulators is performed using
a genetic algorithm. The architecture of a manipulator and its position and orientation with …

Synthesis of robots may be decomposed into two processes:{\em structural
synthesis}(determine the general arrangement of the mechanical structure such as the type …

The objective of this dissertation is to develop new techniques that advance the state of the
art in optimization-based trajectory generation. Two complementary techniques are studied …

This chapter focuses on the principles that guide the design and construction of robotic
systems. The kinematics equations and Jacobian of the robot characterize its range of …

In this paper, we present an interactive, visual design approach for the dimensional
synthesis of planar 6 R single-loop closed chains for a given rational motion using constraint …