A general approach for optimal kinematic design of parallel manipulators

Lou, Yunjiang; Liu, G.; Xu, Jinyou; Li, Z.

doi:10.1109/robot.2004.1308827

Cited by 40 publications

(23 citation statements)

References 11 publications

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“…According to definition, the conditioning number of the Jacobian matrix is defined by min max / k (6) Where k , max and min are condition number, and the maximum and minimum singular values of the Jacobian respectively.…”

Section: A Configuration Optimizationmentioning

confidence: 99%

“…Where is the global performance index, k is the condition number of the Jacobian at a given position and is defined as (6), dw is a differential workspace of the manipulator.…”

Section: Workpace Optimizationmentioning

confidence: 99%

“…Lou et al [5] cast the requirements of singularitylessness, high stiffness and good manipulability into Linear Matrix Inequalities (LMIs), and designed optimal parallel manipulators whose parameters satisfied those LMIs. Subsequently, Lou et al [6] developed their techniques to a general approach for optimal design of parallel manipulators. Chablat and Wenger [7] combined condition number and transmission factors to get the optimal architecture of a 3-DOF translational parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

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Optimal Kinematic Design of a Planar Parallel Manipulator with High Speed and High Precision

Liu

Wang

et al. 2006

2006 International Conference on Mechatronics and Automation

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This paper introduces a novel 2-DOF high speed and high precision planar parallel manipulator. The manipulator consists of a moving platform that is connected to a fixed base by two limbs. Each limb is made up of one prismatic and four revolute joints and the two prismatic axes are arranged orthogonally. In contrast to conventional XY-tables, the manipulator investigated herein doesn't need decoupling structure. In this paper, firstly, the optimal configuration of the manipulator is obtained based on the condition number. Secondly, for the optimal configuration, the forward and inverse kinematic equations are derived, and the singularity of the manipulator is analysed. Then, the optimal shape and position of workspace is obtained based on the global performance index. Finally, the dimension optimization design is performed according to the optimization objective function, which considers the global condition index and workspace.Index Terms -Planar parallel mechanism. High speed and high precision. Optimal kinematics design.

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Section: A Configuration Optimizationmentioning

confidence: 99%

“…Where is the global performance index, k is the condition number of the Jacobian at a given position and is defined as (6), dw is a differential workspace of the manipulator.…”

Section: Workpace Optimizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Optimal Kinematic Design of a Planar Parallel Manipulator with High Speed and High Precision

Liu

Wang

et al. 2006

2006 International Conference on Mechatronics and Automation

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“…Lou, 2005) se propuso una nueva optimización para el diseño de manipuladores paralelos, maximizando la forma regular del espacio de trabajo prescrito sujeta a restricciones de destreza. Se utilizó la técnica llamada búsqueda aleatoria controlada, que consiste en seleccionar un punto de solución por selección aleatoria de una distribución de probabilidad normal centrada en el mejor valor previo.…”

Section: Introductionunclassified

Metodología de diseño de un robot paralelo tipo Delta de 3-GDL en función de un espacio de trabajo prescrito

Santamaría¹,

Castañeda²

2013

Nexo Revista Científica

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RESUMENEn este artículo se desarrolla y aplica una metodología de rediseño de un mecanismo paralelo tipo Delta en función de un espacio de trabajo prescrito, para cualquiera que sea su forma geométrica. La metodología se implementó en el programa computacional Matlab ® sin utilizar una función objetivo, seleccionando los valores mínimos factibles de las variables de diseño, estas son las longitudes de: la plataforma fija y móvil, los eslabones o brazos que conforman la cadena cinemática y una distancia entre la base fija y el espacio prescrito. La forma geométrica del volumen prescrito fue definida en comparación con la forma del espacio de trabajo de dos robots tipo Delta disponibles en el mercado internacional. La metodología fue aplicada al robot paralelo tipo Delta Parallix LKF-2040, creado en el CICATA-IPN, Querétaro, México, con el fin de diseñar su versión industrial.Palabras claves: robot paralelo tipo Delta; espacio de trabajo; optimización. ABSTRACTThis paper develops and applies a methodology for re-designing a Delta-type parallel mechanism based on a prescribed workspace, for whatever geometric shape. The methodology was implemented in Matlab ® software without using an objective function, selecting feasible minimum values of the design variables, these lengths are: fixed and mobile platform, links or arms that comprising the kinematic chain and a distance between the base fixed and space requirement. The geometric shape defined prescribed volume was compared with the shape of two workspace Delta-type robots available in the international market. The methodology was applied to parallel robot Delta-type Parallix LKF-2040, created in CICATA -IPN, Queretaro, Mexico, in order to design their industrial version.

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“…Liu and Wang [7] just have used a performance measure combining the condition number with the stiffness indices in designing 3-DOF spherical parallel manipulators. Other researchers [8] [9] considered dexterity, workspace, and stiffness simultaneously in the design of parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Optimal Design of 6-UPS Parallel Manipulator

Zhang

Yao

2006

2006 International Conference on Mechatronics and Automation

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Kinematic design of parallel manipulator based on optimal articular velocities is presented in this paper. For the same kinematic performance of end-effector, the required articular velocities should be as lower as possible. So the concept of velocity transformation factor, which reflects the magnitude of articular velocities, is proposed. Then, the optimal design problem is formulated to find a manipulator geometry that minimizes the global velocity transformation factor. Since the optimal design problem is a constrained nonlinear optimization problem without explicit analytical expressions, the genetic algorithm is applied to numerically solve the problem. A commonly-used Stewart-Gough platform is employed as an example to demonstrate the design procedure.

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A general approach for optimal kinematic design of parallel manipulators

Cited by 40 publications

References 11 publications

Optimal Kinematic Design of a Planar Parallel Manipulator with High Speed and High Precision

Optimal Kinematic Design of a Planar Parallel Manipulator with High Speed and High Precision

Metodología de diseño de un robot paralelo tipo Delta de 3-GDL en función de un espacio de trabajo prescrito

Kinematic Optimal Design of 6-UPS Parallel Manipulator

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