TY - JOUR
ID - 12508
TI - Dexterous Workspace Shape and Size Optimization of Tricept Parallel Manipulator
JO - International Journal of Robotics, Theory and Applications
JA - IJR
LA - en
SN - 2008-7144
AU - Mohammadi Daniali, Hamid-Reza
AU - Hosseini, Mir Amin
AD - Babol University of Technology
Y1 - 2011
PY - 2011
VL - 2
IS - 1
SP - 18
EP - 26
KW - Tricept
KW - Cuboid Shape
KW - Dexterous Workspace
KW - Complex Degrees of Freedom
KW - Parallel Manipulators
KW - Genetic Algorithm Method
DO -
N2 - This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manipulator all over its workspace. Tricept has a complex degree of freedom, i.e. both rotational and translational DoF, therefore its performance indices depend on the singular values of the dimensional in-homogeneous Jacobian. Here, we divide the Jacobian entries by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. By multiplying the associated entries of the twist array to the same length, we made this array homogeneous as well. This implies some sort of tradeoff between position and orientation components of the twist array. An optimal design problem, including constraints on actuated and passive joint limits, is then formulated. This problem is a constrained nonlinear optimization problem. Therefore, Genetic Algorithm toolbox of Matlab is adopted to solve the problem.
UR - http://ijr.kntu.ac.ir/article_12508.html
L1 - http://ijr.kntu.ac.ir/article_12508_7f68c5d9b65a2b417767955614039d71.pdf
ER -