Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts a and B 2010
DOI: 10.1115/detc2010-28650
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Comparison of Planar Parallel Manipulator Architectures Based on a Multi-Objective Design Optimization Approach

Abstract: This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular workspace size, i.e., the objective functions. The optimization problem is subject to constraints on the manipulator dexterity and stiffness. For a given external wrench, the displacements of the moving platform have to be smaller than given values throughout the obtained maximu… Show more

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Cited by 8 publications
(3 citation statements)
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“…It is to be noted that the complex shapes of workspace arise owing to the presence and intersection of void circles in the workspace. Among some of the optimization methods, 22,23 the workspace area was standardized in the form of circle expressions. However, to our knowledge, a closed-form expression for the exact workspace area for any combination of parameters of a manipulator is not reported in the existing literature.…”
Section: Workpacementioning
confidence: 99%
See 1 more Smart Citation
“…It is to be noted that the complex shapes of workspace arise owing to the presence and intersection of void circles in the workspace. Among some of the optimization methods, 22,23 the workspace area was standardized in the form of circle expressions. However, to our knowledge, a closed-form expression for the exact workspace area for any combination of parameters of a manipulator is not reported in the existing literature.…”
Section: Workpacementioning
confidence: 99%
“…Chablat and Wenger 22 optimized a workspace with a high condition index and stiffness. A force transmissibility performance was reported by Chang and Lin.…”
Section: Design Optimizationmentioning
confidence: 99%
“…This can be effectively achieved by virtue of multiobjective optimization method. The multiobjective optimization problems of parallel manipulators (PMs) have been reported in the literature, where various approaches of multiobjective optimization have been applied to different types of PMs, while considering kinematic, dynamic and static criteria [11,15,16,17,18]. However, a systematic approach lacks in the optimum design for this class of SPMs, as the static/dynamic performance received relatively less attention as mentioned above.…”
Section: Introductionmentioning
confidence: 99%