Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance

Liu, Haitao; Huang, Tian; Zhao, Xiaolu; Mei, Jianping; Chetwynd, D. G.

doi:10.1016/j.mechmachtheory.2006.12.001

Cited by 30 publications

(12 citation statements)

References 11 publications

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“…As a result, eight equations are obtained from equations (6)(7)(8)(9). As only two wrench constraints are resulted from legs 1 and 3, only two equations are needed from (7).…”

Section: Dimensionally Homogeneous Jacobianmentioning

confidence: 99%

“…The major reason for that is the small workspace and the limited flexibility. To overcome these drawbacks while maintaining the merits of high stiffness, speed and accuracy, the current trend in large volume manufacturing is to utilize hybrid parallel kinematic machines (HPKM) for 5-axis machining [4][5][6][7][8][9]. Research has shown that HPKMs can offer competitive advantages over conventional CNC machines [6],though there is still a long way to go before putting them into productive work, such as large volume high precision manufacturing.…”

Section: Introductionmentioning

confidence: 99%

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Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining

Jin

Liu

et al. 2015

Journal of Mechanisms and Robotics

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A parallel kinematic machine (PKM) topology can only give its best performance when its geometrical parameters are optimized. In this paper, dimensional synthesis of a newly developed PKM is presented for the first time. An optimization method is developed with the objective to maximize both workspace volume and global dexterity of the PKM. Results show that the method can effectively identify design parameter changes under different weighted objectives. The PKM with optimized dimensions has a large workspace to footprint ratio and a large well-conditioned workspace, hence justifies its suitability for large volume machining.

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“…As a result, eight equations are obtained from equations (6)(7)(8)(9). As only two wrench constraints are resulted from legs 1 and 3, only two equations are needed from (7).…”

Section: Dimensionally Homogeneous Jacobianmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining

Jin

Liu

et al. 2015

Journal of Mechanisms and Robotics

Self Cite

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“…Marco Ceccarelli et al [25] formu-lated a multi-objective optimization problem for 3R serial link manipulators by taking the workspace volume and robot dimensions as objective functions for the given workspace limits as constraints. Liu et al [26] presented a method for optimal kinematic design of a 3-dof parallel manipulator; the dimensional synthesis being carried out by introducing a tilt angle to achieve a nearly axial symmetry of kinematic performance with respect to configuration. N.M.Rao and K.M.Rao [27] have performed the dimensional synthesis of a 3-RPS parallel manipulator using a hybrid optimization method called GA-simplex method.…”

Section: Introductionmentioning

confidence: 99%

Design for Optimal Performance of 3-RPS Parallel Manipulator Using Evolutionary Algorithms

Babu¹,

Raju

Ramji

2013

Transactions of the Canadian Society for Mechanical Engineering

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This paper presents an optimal kinematic design for a general type of 3-RPS spatial parallel manipulator based on multi-objective optimization. The objective functions considered are Global Conditioning Index (GCI), Global stiffness Index (GSI) and Workspace volume. The objective functions are optimized simultaneously to improve the dexterity as well as the workspace volume which represents the working capacity of a parallel manipulator. A multi-objective Evolutionary Algorithm based on the control elitist non-dominated sorting genetic algorithm is adopted to find the true optimal Pareto front. A constraint Jacobian matrix is derived analytically and the manipulator workspace is generated by numerical search method. The static analysis of the manipulator is also carried out to determine the compliance of the end-effecter.

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“…The major reason for that is the small workspace and the limited flexibility. To overcome these drawbacks while maintaining the merits of high stiffness, speed and accuracy, the current trend in large volume manufacturing is to utilize hybrid parallel kinematic machines (HPKM) for five-axis machining [4][5][6][7][8][9]. Research has shown that HPKMs can offer competitive advantages comparing to conventional CNC machines [6].…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of a New Parallel Kinematic Machine for Large Volume Machining

Jin

Higgins

et al. 2012

Advances in Reconfigurable Mechanisms and Robots I

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Although numerous PKM topologies have been invented recently, few of them have been successfully put into production. A good topology can only provide good performance unless its geometrical parameters are optimized. This paper studies the dimensional synthesis of a new PKM which has shown great potential for large volume high performance manufacturing. A new optimization approach is proposed for design optimization, with a new performance index composed of weight factors of both Global Conditioning Index (GCI) and actuator stroke. Maximizing GCI will ensure the effectiveness of the workspace, while minimizing actuator stroke leads to reduced machine cost and increased efficiency. Results show that the proposed optimization method is valid and effective. The PKM with optimized dimensions has a large workspace to footprint ratio and a large wellconditioned workspace, which ensures its suitability for large volume machining.

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Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance

Cited by 30 publications

References 11 publications

Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining

Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining

Design for Optimal Performance of 3-RPS Parallel Manipulator Using Evolutionary Algorithms

Optimal Design of a New Parallel Kinematic Machine for Large Volume Machining

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