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Design optimization of 3PRS parallel manipulator using global performance indices
S. Ramana Babu,V. Ramachandra Raju,K. Ramji 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.9
This paper presents an optimal kinetostatic design method for a general 3PRS (Prismatic-revolute-spherical) spatial parallel manipulator by formulating a multi-objective optimization problem considering the performance indices are as the objective functions. Three performance criteria--Global conditioning index (GCI), Global stiffness index (GSI) and workspace volume-were formulated and the effect of actuator layout angle on the performance indices was studied. A multi-objective evolutionary algorithm based on the Control elitist non-dominated sorting genetic algorithm (CENSGA) was adopted to find the final approximation set. The optimal geometric parameters that yield minimal compliance with larger workspace volume and improved dexterity are suggested for a general 3PRS parallel manipulator. For the optimal design, it is shown that global isotropy and global stiffness of the platform is improved at the cost of workspace reduction.
구속 메카니즘을 갖는 3-dof 병렬기구형 공작기계의 최적설계에 관한 연구
김치효(Chi-Hyo Kim),박근우(Kun-Woo Park),경진호(Jin-Ho Kyung) 한국생산제조학회 2007 한국공작기계학회 춘계학술대회논문집 Vol.2007 No.-
This paper studies on the optimal design of a robot manipulator combined a parallel manipulator and wrist manipulator(PMWM). The robot has a parallel manipulator with three linear actuators and a central axis for positional motions, i.e., x, y, and z and a wrist manipulator with two rotary actuators for rotational motions, i.e., yaw and pitch. We define parameters for optimal design such as radii of a base and a platform, the length and the stroke of linear actuator. The degree of improvement attainable is quantified by optimizing the manipulator design with respect to a weighted sum of the dexterity, the workspace volume, and the height. An object function is defined and maximized by the optimal parameters.
구속 메카니즘을 갖는 3-dof 병렬기구형 공작기계의 최적설계에 관한 연구
김치효(Chi-Hyo Kim),박근우(Kun-Woo Park),경진호(Jin-Ho Kyung) 한국생산제조학회 2007 한국생산제조시스템학회 학술발표대회 논문집 Vol.2007 No.5
This paper studies on the optimal design of a robot manipulator combined a parallel manipulator and wrist manipulator(PMWM). The robot has a parallel manipulator with three linear actuators and a central axis for positional motions, i.e., x, y, and z and a wrist manipulator with two rotary actuators for rotational motions, i.e., yaw and pitch. We define parameters for optimal design such as radii of a base and a platform, the length and the stroke of linear actuator. The degree of improvement attainable is quantified by optimizing the manipulator design with respect to a weighted sum of the dexterity, the workspace volume, and the height. An object function is defined and maximized by the optimal parameters.