Abstract Two optimal design methods are proposed for the dimensional design of parallel manipulators, considering their dynamic performance over the desired ranges of motions, velocities, and accelerations. The first method, termed as the extrinsic method, directly minimises the actuator forces/torques within the desired safe working zone of the manipulator, for typical velocities and accelerations of the end-effector. The second method, namely, the intrinsic method, minimises a measure of the manipulator’s inertia, as reflected at the actuators, over the said safe working zone. Case studies on the design of 3- R RR and 3- R RS manipulators are presented to illustrate the proposed methods. Numerical studies show that the optimal link dimensions obtained through these conceptually disparate methods are fairly similar. Naturally, the dynamic performances of the resulting manipulators are also comparable, which are found to be significantly better than that of arbitrary designs respecting the same constraints.

中文翻译：

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平行机械手的尺寸设计方法，以在给定的安全工作区获得最佳动态性能

摘要 针对并联机械手的尺寸设计提出了两种优化设计方法，考虑了它们在所需的运动、速度和加速度范围内的动态性能。第一种方法称为外在方法，对于末端执行器的典型速度和加速度，直接最小化机械手所需安全工作区域内的致动器力/扭矩。第二种方法，即固有方法，最小化操纵器在所述安全工作区上的惯性的量度，如在致动器处反映的。介绍了 3-R RR 和 3-R RS 机械手设计的案例研究，以说明所提出的方法。数值研究表明，通过这些概念上不同的方法获得的最佳链接尺寸非常相似。自然，