The optimum design of 6-DOF isotropic parallel manipulators

2005 ◽  
Vol 22 (6) ◽  
pp. 333-340 ◽  
Author(s):  
K. Y. Tsai ◽  
S. R. Zhou
Keyword(s):  
Optimum Design ◽  
Parallel Manipulators

scholarly journals Optimal design of tricept parallel manipulator with particle swarm optimization using performance parameters

2021 ◽  
Vol 9 (2) ◽  
Author(s):  
Syed Saad Farooq ◽  
◽  
Aamer Ahmed Baqai ◽  
Muhammad Faizan Shah ◽  
◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Optimum Design ◽  
Particle Swarm ◽  
Parallel Manipulators ◽  
Optimized Design ◽  
Performance Parameters ◽  
Swarm Optimization ◽  
Design Variables ◽  
Design Values ◽  
Processing Effort

The parallel manipulators are skilled for their precision manufacturing but need optimized design to get maximum dexterity that will lead towards better industrial production rates. The 3-DOF tricept is chosen to utilize its maximum capabilities for its functionality. Three performance parameters conditioning index, workspace volume, and global conditioning index are used to obtain optimum design variables of tricept mechanism. With a view to compare them in terms of processing effort, particle swarm optimization (PSO) is applied here. Finally, multiobjective optimization with two strategies weighted and epsilon constraint is performed to control the different parameters simultaneously and also to give validation of previously obtained GA based optimum design values of tricept mechanism.

Evaluation and Optimum Design of Parallel Manipulators Having Defined Workspace

2000 ◽  
Author(s):  
Jürgen Schönherr
Keyword(s):  
Optimum Design ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Parallel Structure ◽  
Transmission Quality ◽  
6 Degrees Of Freedom ◽  
Kinematic Optimization ◽  
Method Of Design

Abstract The condition of the Jacobian characterizes the transmission quality of manipulators and is used in this paper for the determination of the dimensions of manipulators having best mobility for a defined workspace. Typical planar and spatial manipulators of parallel structure and having 3 or 6 degrees of freedom are used to demonstrate the method of design used. Manipulators having identical degrees of freedom and workspaces and different structures, including those having fixed or variable leg lengths, are compared with respect to their mobility. The computing program developed for the purpose of optimum design performs the kinematic optimization of machines and manipulators of any structure.

Performance atlases of the workspace for planar 3-DOF parallel manipulators

Robotica ◽  
2000 ◽  
Vol 18 (5) ◽  
pp. 563-568 ◽  
Author(s):  
Xin-Jun Liu ◽  
Jinsong Wang ◽  
Feng Gao
Keyword(s):  
Physical Model ◽  
Optimum Design ◽  
Computer Aided Design ◽  
Solution Space ◽  
Parallel Manipulators ◽  
Performance Characteristics ◽  
Performance Criteria ◽  
Computer Aided ◽  
Aided Design

The design of the robotic mechanisms is most important because they determine the performance characteristics of the robots. This paper concerns the issue of computer-aided design (CAD) for planar 3-DOF parallel robotic mechanisms by means of the physical model of the solution space, which can be used systematically to express the relationships between the performance criteria and all link lengths of one type of the robtic mechanism. The performance atlases of the workspace volume for the manipulators are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented. The results are useful for the optimum design of the robotic mechanisms. This paper proposes a new way for robotic CAD.

Optimum design of a 4-PSS-PU redundant parallel manipulator based on kinematics and dynamics

2015 ◽  
Vol 230 (13) ◽  
pp. 2273-2284 ◽  
Author(s):  
Liping Wang ◽  
Binbin Zhang ◽  
Jun Wu
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator ◽  
Design Space ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Search Method ◽  
Kinematics And Dynamics ◽  
Performance Indices ◽  
Maximum Acceleration ◽  
High Acceleration

This paper presents an optimum design of a 4-PSS-PU redundant parallel manipulator by taking the workspace, conditioning performance, and acceleration into account. On the basis of rank of the Jacobian matrix, a method to directly find out the workspace is presented, rather than the search method. Based on the dynamic model, a maximum acceleration index is defined. The corresponding atlases of these performance indices are represented graphically in the established design space. Based on these atlases, the optimum design is performed and the optimum region is determined. It is expected to realize the high acceleration of parallel manipulators by using the optimum method.

scholarly journals Performance Analysis and Optimum Design of a Redundant Planar Parallel Manipulator

Symmetry ◽  
2019 ◽  
Vol 11 (7) ◽  
pp. 908 ◽  
Author(s):  
Xiaoyong Wu
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator ◽  
Optical Design ◽  
Kinematic Model ◽  
Parallel Manipulators ◽  
Performance Comparison ◽  
Design Parameters ◽  
Redundant Manipulator ◽  
Symmetrical Structure ◽  
Planar Parallel Manipulator

This work presents a comprehensive performance evaluation and optimum design of a novel symmetrical 4-PPR (P indicates the prismatic joint, R denotes the revolute joint, and the letter with underline represents an active joint) redundant planar parallel manipulator. The kinematic model is established, upon which the inverse position and singularity are analyzed. Based on the evaluation of dexterity, velocity, and stiffness performance, the optimum region is achieved. With the optical design parameters, a case study for the analysis of dynamic behavior is conducted. Performance comparison between the redundant manipulator and another two non-redundant 3-PPR planar parallel manipulators, one with a Δ-shape symmetrical structure and the other with U-shape symmetrical structure, is presented. Simulation results reveal that the U-shape manipulator has the greatest velocity performance. Moreover, the redundant manipulator possesses the best dexterity, stiffness, and dynamic performance.

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