Kinematic Optimization of Parallel Manipulators with a Desired Workspace

Abstract:

A kinematic optimization method of parallel manipulators is presented in this paper. A desired workspace for a parallel manipulator is usually an essential requirement in a practical application. Additionally, a good kinematic performance and/or a relatively small physical size would be of great significance. A dexterity index is utilized to measure the kinematic performance of parallel manipulators. A method to define the physical size of a parallel manipulator is introduced. The cost function is then formulated as a linear combination of a dexterity index and a physical size measurement. The Optimization Tool Box of MATLAB is applied to solve the optimization problem. Finally, a general Stewart-Gough platform is taken as an example to specify the design methodology.

• Periodical: Applied Mechanics and Materials (Volumes 752-753)
• Pages: 973-979
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.752-753.973
• Online since: April 2015
• Authors: Ze Guo Yang, Ming Lei Shao, Dong Ik Shin*
• Keywords: Desired Workspace, Kinematic Optimization, Parallel Manipulator, Physical Size

References

[1] R. E Stamper, L.W. Tsai and G.C. Walsh, Optimization of a three DOF translational platform for well-conditioned workspace, Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, (1997) 3250-3255.

DOI: 10.1109/robot.1997.606784

[2] Y. Lou, G. Liu, N. Chen and Z. Li, Optimal design of parallel manipulators for maximum effective regular workspace, Proc. IEEE/RSJ Int. Conf. on Intel. Robots Syst. Alberta, (2005) 785-800.

DOI: 10.1109/iros.2005.1545144

[3] M. Stock and K. Miller, Optimal kinematic design of spatial parallel manipulators: Application to linear delta robot, J. Mech. Design, T. ASME. 125 (2003) 292-301.

DOI: 10.1115/1.1563632

[4] X.J. Liu and J.S. Wang, A new methodology for optima kinematic design of parallel mechanisms, Mech. Mach. Theory. 42 (2007) 1210-1224.

[5] X. J Liu, J. S Wang and G. Pritschow, On the optimal kinematic design of the PRRRP 2-DoF parallel mechanism, Mech. Mach. Theory. 41 (2006) 1111-1130.

DOI: 10.1016/j.mechmachtheory.2005.10.008

[6] X.J. Liu, Optimal kinematic design of a three translational DOFs parallel manipulator, Robotica. 24 (2006) 239-250.

DOI: 10.1017/s0263574705002079

[7] F. Xie, L. Wang, X.J. Liu and J.S. Wang, Optimal kinematic design of the 4R 2-DOF parallel mechanism, Tsinghua Sci. Technol. 14 (2009) 663-668.

DOI: 10.1016/s1007-0214(09)70132-4

[8] J.P. Merlet, Designing a parallel manipulator for a specific workspace. Int. J. Robot. Res. 16 (1997) 545-556.

[9] J.P. Merlet, Parallel robots, Solid Mechanics and Its Applications, 2nd ed., Springer, The Netherlands, (2006).

[10] X.J. Liu, J.S. Wang, K.K. Oh and J. Kim, A new approach to the design of a DELTA robot with a desired workspace, J. Intell. Robot. Syst. 39 (2004) 209-225.

DOI: 10.1023/b:jint.0000015403.67717.68

[11] M.A. Laribi, L. Romdhane and S. Zeghloul, Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace, Mech. Mach. Theory. 42 (2007) 859-870.

DOI: 10.1016/j.mechmachtheory.2006.06.012

[12] I. Fassi, G. Legnani and D. Tosi, Geometrical conditions for the design of partial or full isotropic hexapods, J. Robot. Syst. 22 (2005) 507-518.

DOI: 10.1002/rob.20074

[13] L. Tsai, Robot analysis: The mechanics of serial and parallel manipulators, John Wiley & Sons, Inc., USA, (1999).