CAD Based Design Optimization of Planar Parallel Manipulators

Arrouk, Khaled Assad; Bouzgarrou, Belhassen Chedli; Stan, Sergiu Dan; Gogu, Grigore

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Paper Titles

Application of Simulators and Simulation Tools for the Functional Design of Mechatronic Systems, p.1
Determination of Generalized Coordinates and Forces for Generation of the Three Dimensional Curves with Torsion by PKM (Parallel Kinematik Machines), p.15
Automatic Page Turner, p.27
CAD Based Design Optimization of Planar Parallel Manipulators, p.33
Automated Test Bench for Study of the Fuel Injection Process, p.39
About an Experimental Approach Used to Determine the Kinematics of the Human Finger Movement , p.45
Exteroceptive Sensor System of a New Developed Artificial Hand, p.51
Mechatronic Design of a Planar Parallel Robot Actuated by Pneumatic Artificial Muscles, p.57
Robot Motion Synchronization in Cooperative Tasks, p.63

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Paper Title:

CAD Based Design Optimization of Planar Parallel Manipulators

Periodical	Solid State Phenomena (Volumes 166 - 167)
Main Theme	Robotics and Automation Systems
Edited by	Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad
Pages	33-38
DOI	10.4028/www.scientific.net/SSP.166-167.33
Citation	Khaled Assad Arrouk et al., 2010, Solid State Phenomena, 166-167, 33
Online since	September, 2010
Authors	Khaled Assad Arrouk, Belhassen Chedli Bouzgarrou, Sergiu Dan Stan, Grigore Gogu
Keywords	CAD Environment, Optimization, Parallel Manipulator, Prescribed Workspace
Price	US$ 28,-

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Abstract

In this paper a new method for determination and optimization of the workspace of parallel manipulators is presented. The proposed method is based on a geometrical approach, and offers the possibility to generate automatically the workspace in a CAD environment. Thus, the relationship between the geometrical design parameters of the parallel manipulator and its workspace can be analyzed without difficulty. Optimization problem considered in this paper consists in determining the dimensions of a parallel manipulator having the closest workspace to a prescribed task region. Finally, numerical applications of two types of planar parallel manipulators are presented in order to illustrate the proposed approach.