Systematic optimal design procedures for the Gough-Stewart platform used as motion simulators

Abstract

Purpose – The purpose of this paper is to present systematic optimal design procedures for the Gough-Stewart platforms used as engineering motion simulators. Design/methodology/approach – Three systematic optimal design procedures are proposed to solve the engineering design problems for the Gough-Stewart platform used as motion simulators. In these systematic optimal design procedures, two contradicting design optimality criteria with good representations of performances of the Gough-Stewart platforms are chosen as the objective functions. In addition, the two objective function optimization problems are solved by using the multi-objective evolutionary algorithms. Findings – In the systematic optimal design procedures, multiple compromised design solutions are found by using Elitist Non-Dominated Sorting Genetic Algorithm version II in the primary design stage, and many candidates can be used in the secondary design stage for higher decisions. Two higher decision methods have been presented to choose the final solutions. Originality/value – This paper proposes three systematic optimal design procedures to solve the practical design problems of the Gough-Stewart platforms used as motion simulators, which are very important for the engineering designers.

Optimal Kinematic Design of a 6-UCU Kind Gough-Stewart Platform with a Guaranteed Given Accuracy

“…Many scholars studied the optimal design of a GSP with only one optimal solution [24]. In practice, many different functional requirements of robots are intended to be satisfied [25]; thus, it is more appropriate to have multiple optimization solutions after the optimal kinematic design [24].…”

“…Many scholars studied the optimal design of a GSP with only one optimal solution [24]. In practice, many different functional requirements of robots are intended to be satisfied [25]; thus, it is more appropriate to have multiple optimization solutions after the optimal kinematic design [24]. The condition number and determinant of the kinematic Jacobian matrix, J P , of a GSP were extensively used as optimal design objectives [24]; therefore, they were chosen as objective functions in the optimal design process in this paper.…”

“…We transformed the requirements of the customer to 12 typical trajectories along six single axes [24]. Two typical travel trajectories of translation along the X axis were…”

“…In the optimal kinematic design of a flight simulator, 31 typical trajectories of a Boeing 747 were considered in the design process by Advani [31]. If one desires a singularity-free workspace, as for motion simulators, the 12 typical trajectories in Step 2 would be replaced by all the typical trajectories and the 64 extreme positions [24,31].…”

Multiobjective Optimization of 6‐DOF Parallel Manipulator for Desired Total Orientation Workspace

“…At present, some scholars have optimized the geometric parameters of the 6-DOF parallel manipulator for a desired lower-mobility workspace. Liu [11] optimized the geometric parameters of the 6-DOF parallel manipulator for a desired single DOF workspace. Cirillo [12] used genetic algorithm to optimize the geometric parameters of the 6-DOF parallel manipulator in aeronautics applications for the known trajectory.…”