{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T17:02:04Z","timestamp":1788282124382,"version":"build-2803163510"},"reference-count":45,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2004,2,1]],"date-time":"2004-02-01T00:00:00Z","timestamp":1075593600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2004,2]]},"abstract":"<jats:p>Parallel manipulators offer much higher rigidity and smaller mobile mass than their                serial counterparts, thus allowing much faster and more precise manipulations. The                main disadvantage of parallel robots is their small workspace in comparison to                serial arms of similar size. Furthermore, the manipulability of parallel robots is                often poor in some regions of the (already small) workspace. Another problematic                issue is effective modeling of parallel robot dynamics, often needed for control                algorithms. Dynamic algorithms developed for serial robots or general closed-loop                mechanisms cannot be easily applied to parallel robots when the objective is                real-time, dynamicmodelbased control. Therefore, in this work we investigate how to                design parallel manipulators so that their workspace size and manipulability are                maximized, and how to model parallel robot dynamics effectively. We develop a new                performance index that combines measures of manipulability and workspace size, and a                kinematic optimization process yielding a design that delivers the best compromise                between manipulability and space utilization. Two examples are considered: the New                University of Western Australia Robot (NUWAR) and the Linear Delta robot. Our                experience in optimal design studies shows that the exhaustive search minimization                algorithm is effective for as many as four independent design variables and presents                a viable alternative to advanced non-linear programming methods. We develop a method                based on Hamilton\u2019s canonical equations to solve both the inverse and                direct problems of dynamics for parallel robots. The method uses carefully chosen                dependent coordinates, called here the coordinates of the extended space. The                approach is shown to be computationally more efficient than the more common                acceleration-based methods.<\/jats:p>","DOI":"10.1177\/0278364904041322","type":"journal-article","created":{"date-parts":[[2004,5,27]],"date-time":"2004-05-27T09:25:01Z","timestamp":1085649901000},"page":"127-140","source":"Crossref","is-referenced-by-count":110,"title":["Optimal Design and Modeling of Spatial Parallel Manipulators"],"prefix":"10.1177","volume":"23","author":[{"given":"Karol","family":"Miller","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering,The University of Western Australia,                        Crawley\/Perth WA 6009, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2004,2]]},"reference":[{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.34773"},{"key":"e_1_2_1_3_1","unstructured":"Arai T. and Tanikawa T. 1996. 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