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This article presents two optimization algorithms for the 2PRU-1PRS parallel manipulator, focusing on maximizing workspace size and minimizing power consumption. The first algorithm seeks the geometric parameters that yield the largest and most regular workspace, while the second identifies parameter combinations that provide an acceptable workspace size with the lowest power usage. The proposed methods are flexible, computationally efficient, and applicable to various parallel manipulators and trajectories

Author

anubhav mishra

Language

EN