Design optimization of a spatial six degree-of-freedom parallel manipulator based on artificial intelligence approaches

Gao, Zhen; Zhang, Dan; Ge, Yaojun

doi:10.1016/j.rcim.2009.07.002

Cited by 113 publications

(46 citation statements)

References 38 publications

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“…These are typically claimed as high payload to weight ratio, velocity, accuracy, stiffness, and low inertia [7]. Many variations have been proposed in the research literature of kinematic machine tool design [1], [2], [6]. Currently the most successful equipment in developed countries is a flexible manufacturing unit based on reconfigurable PKM such as Tricept, Sprint Z3 and Exechon [8].…”

Section: Literature Surveymentioning

confidence: 99%

“…The only challenge is to find a suitable machine tool which can provide the required accuracy, rigidity, flexibility and high dynamic response when carrying out on-site machining activities. In the past decade kinematic machine tools were proposed [1], [2] and some were successfully employed on CNC machines in the form of serial and parallel kinematic machine tools ranging from 2 DOF to 6 DOF. However no sustainable kinematic machine tool has been designed to handle on-site machining of large components and features that are often located in places not easily accessible.…”

Section: Introductionmentioning

confidence: 99%

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Conceptual Design of a Six DOF Hybrid Kinematic Machine for On-Site Machining

2016

IJSR

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On-site machining has received very little attention from the machine tool manufacturing research community. With the increasing need for on-site machining services in many sectors, kinematic machines specially designed for on-site machining are on high demand. From the second half of the 20 th century to date, Serial and Parallel Kinematic Machines have earned a great deal of attention from the machine tool manufacturing industry. The reasons being short processing time, low manufacturing costs, high rigidity, accuracy and dynamic response of these structures. However, owing to the advantages and disadvantages of both systems, designers have redirected their focus to hybrid systems which optimizes the advantages of these two structures. In this paper a six DOF Hybrid kinematic machine structure, which combines parallel and serial kinematic substructures, is developed specifically for on-site milling operations of large components. This design is dedicated to on-site milling operations which require a mobile and flexible equipment to take care of the complex nature the operations. Autodesk Inventor is used in modeling and parameter optimization of the hybrid kinematic structure. Finally the conceptual model and its basic dimensions are presented.

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Section: Literature Surveymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Conceptual Design of a Six DOF Hybrid Kinematic Machine for On-Site Machining

2016

IJSR

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“…Gao et al described the implementation of genetic algorithms and artificial neural networks as an intelligent optimization tool for the dimensional synthesis of the spatial 6-DOF parallel manipulator. The multiobjective optimization (MOO) problem consisted of two functions: system stiffness and dexterity, which are derived according to kinematic analysis of the parallel mechanism [6]. C. Bonilla and A. Alexander proposed a solution for the optimization of the orientation workspace of the Stewart 6-RUS platform using the PSO algorithm [7].…”

Section: Introductionmentioning

confidence: 99%

Design Optimization of 6-RUS Parallel Manipulator Using Hybrid Algorithm

Joumah¹,

Albitar²

2018

IJITCS

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Abstract-In this paper, we present a study on the design optimization of the 6-RUS Stewart platform using a hybrid algorithm. The geometric and kinematic models are calculated. The optimization problem is formulated after determining the design parameters and defining a set of cost functions related to the size of the workspace and to the indices of the kinematic and static performance, which are the global conditioning index (GCI) and the global stiffness index (GSI).We started by studying the relation between the design parameters and the proposed cost functions, and then we invested the genetic algorithm to optimize each cost function separately. Moreover, we adopted a weighted cost function method to solve the Multi-Objective optimization problem.The convergence performance of the genetic algorithm (GA) and the particle swarm optimization (PSO) were compared, where the PSO algorithm showed better performance. Based on this, a hybrid PSO-PS method was proposed and the results are highly competitive as we obtained better general convergence performance.

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“…It is well known that the inverse Jacobian matrix provides an instantaneous transformation between joint velocities and linear and angular velocities of the end-effector [5]. It can be used in several analysis processes of these mechanisms, such as the performance evaluation [9][10][11][12][13][14] and dynamical analysis [15]. A condition number based on the maximum and minimum singular values of the inverse Jacobian matrix is computed in general for performance evaluation of parallel manipulators [16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Development of derivation of inverse Jacobian matrices for 195 6-DOF GSP mechanisms

Toz¹,

Küçük²

2016

Turk J Elec Eng & Comp Sci

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Abstract:One of the key issues in robotics is finding high-performance manipulator structures. To evaluate the performance of a parallel manipulator, researchers mostly use kinematic performance indices (such as condition number, minimum singular value, dexterity, and manipulability), which are based on inverse Jacobian matrices. Driving the inverse Jacobian matrix of even one parallel manipulator is a very cumbersome process. However, in this paper, general equations for the inverse Jacobian matrices of 195 GSP mechanisms are symbolically derived by considering 4 basic leg types having 1 angular and 4 distance constraints. With the help of these general equations, the development of the inverse Jacobian matrix for a GSP mechanism can be achieved by defining only the leg connection points on the base and moving platforms with minimum cost. Having derived the inverse Jacobian matrices, one can directly compute kinematic performance indices to measure and compare the manipulator performance of the 195 GSP mechanism. These analyses may yield new high-performance GSP mechanisms for use in engineering, medical device design, and other applied branches. Two different mechanisms (symmetrical and asymmetrical) are given as examples to describe the methodology for deriving the inverse Jacobian matrices. Finally, 2 numerical examples are given for illustrating the practical applications of the procedure.

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Design optimization of a spatial six degree-of-freedom parallel manipulator based on artificial intelligence approaches

Cited by 113 publications

References 38 publications

Conceptual Design of a Six DOF Hybrid Kinematic Machine for On-Site Machining

Conceptual Design of a Six DOF Hybrid Kinematic Machine for On-Site Machining

Design Optimization of 6-RUS Parallel Manipulator Using Hybrid Algorithm

Development of derivation of inverse Jacobian matrices for 195 6-DOF GSP mechanisms

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