Design optimization of 3PRS parallel manipulator using global performance indices

2016 ◽  
Vol 30 (9) ◽  
pp. 4325-4335 ◽  
Author(s):  
S. Ramana Babu ◽  
V. Ramachandra Raju ◽  
K. Ramji
Keyword(s):  
Design Optimization ◽  
Parallel Manipulator ◽  
Performance Indices ◽  
Global Performance

Optimal selection of the supporting points of large component aligned and positioned by parallel manipulator

2016 ◽  
Vol 230 (17) ◽  
pp. 3066-3075
Author(s):  
Hongshuang Zhang ◽  
Junxia Jiang ◽  
Yinglin Ke ◽  
Qing Wang
Keyword(s):  
Parallel Manipulator ◽  
Stability Index ◽  
Stiffness Index ◽  
Performance Indices ◽  
Large Component ◽  
Global Performance ◽  
Effective Selection ◽  
Capacity Index ◽  
Six Degree Of Freedom ◽  
Selection Of

Large components such as wing sections should be aligned and positioned in a desired position prior to the final manufacturing or assembly, so a digital alignment and position device based on six degree of freedom parallel manipulator with several prismatic-prismatic-prismatic-spherical branches was designed and fabricated to meet the needs. The digital alignment and position device is an alignment device based on the parallel manipulator, and it is also a positioning and holding fixture for large components manufacturing or assembly. In order to effectively and efficiently select the supporting points of large component where the digital alignment and position device branch is connected with, the performance of the parallel manipulator and the fixture should be comprehensively analyzed at the same time. The global performance indices such as the dexterity index, the bearing capacity index, and the stiffness index are calculated based on the mechanism Jacobean matrix of the parallel manipulator, and the positioning stability index is calculated based on the position Jacobean matrix of the fixture. The results show that the global performance indices are not related to the pose, but the positioning stability index is; in addition, all indices rely on the originally selected supporting points and provide the basis for the effective selection of the supporting points for large component aligned and positioned by the digital alignment and position device, which is based on parallel manipulator with prismatic- prismatic-prismatic-spherical pairs.

scholarly journals Kinematic Analysis of a Parallel Manipulator Driven by Perpendicular Linear Actuators

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 262
Author(s):  
Kee-Bong Choi ◽  
Jaejong Lee ◽  
Geehong Kim ◽  
Hyungjun Lim ◽  
Soongeun Kwon
Keyword(s):  
Parallel Manipulator ◽  
Type Specimen ◽  
Degree Of Freedom ◽  
Performance Indices ◽  
Actuation Mechanism ◽  
Moving Body ◽  
Global Performance ◽  
Ball Contact ◽  
Prismatic Joints ◽  
Linear Actuators

In this paper, a goniometer-type specimen stage with a linear actuation mechanism mounted on a rotation mechanism is introduced. The linear actuation mechanism was modeled as a spatial parallel manipulator consisting of a moving body, three linear actuators, and an anti-rotation mechanism. The three linear actuators were arranged perpendicular to each other. In the specimen stage, the linear actuators were in ball contact with the surface of a holder designed to hold a specimen. For the parallel manipulator, the ball contact was replaced with two prismatic joints and a spherical joint. The mobility of the manipulator without the anti-rotation mechanism was one degree of freedom greater than the number of actuators. Therefore, the redundant one degree-of-freedom motion was restrained using an anti-rotation mechanism with three rotation joints and two prismatic joints. The inverse and direct kinematics of the goniometer mechanism were derived and verified. In addition, the inverse Jacobian was derived, and local and global performance indices were analyzed by the terms of manipulability and isotropy. Finally, the goniometer-type specimen stage was designed by the global performance indices.

Global Performance Indices for Dynamic Crystals as Organic Thermal Actuators

2020 ◽  
Vol 32 (20) ◽  
pp. 1906216 ◽  
Author(s):  
Durga Prasad Karothu ◽  
Jad Mahmoud Halabi ◽  
Liang Li ◽  
Abraham Colin‐Molina ◽  
Braulio Rodríguez‐Molina ◽  
...  
Keyword(s):  
Performance Indices ◽  
Thermal Actuators ◽  
Global Performance

scholarly journals Design Optimization of Serial Link Redundant Manipulator: An Approach Using Global Performance Metric

2014 ◽  
Vol 14 ◽  
pp. 43-50 ◽  
Author(s):  
Virendra Kumar ◽  
Soumen Sen ◽  
Shibendu S. Roy ◽  
Chandan Har ◽  
S.N. Shome
Keyword(s):  
Design Optimization ◽  
Redundant Manipulator ◽  
Serial Link ◽  
Performance Metric ◽  
Global Performance

Stiffness-based trajectory planning of a 6-DOF cable-driven parallel manipulator

2016 ◽  
Vol 231 (21) ◽  
pp. 3999-4011 ◽  
Author(s):  
Wenjia Zhang ◽  
Weiwei Shang ◽  
Bin Zhang ◽  
Fei Zhang ◽  
Shuang Cong
Keyword(s):  
Velocity Profile ◽  
Trajectory Planning ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Degree Of Freedom ◽  
Performance Indices ◽  
Curved Trajectories ◽  
Quintic Polynomial ◽  
Point To Point ◽  
Six Degree Of Freedom

The stiffness of the cable-driven parallel manipulator is usually poor because of the cable flexibility, and the existing methods on trajectory planning mainly take the minimum time and the optimal energy into account, not the stiffness. To solve it, the effects of different trajectories on stiffness are studied for a six degree-of-freedom cable-driven parallel manipulator, according to the kinematic model and the dynamic model. The condition number and the minimum eigenvalue of the dimensionally homogeneous stiffness matrix are selected as performance indices to analyze the stiffness changes during the motion. The simulation experiments are implemented on a six degree-of-freedom cable-driven parallel manipulator, to study the stiffness of three different trajectory planning approaches such as S-type velocity profile, quintic polynomial, and trigonometric function. The accelerations of different methods are analyzed, and the stiffness performances for the methods are compared after planning the point-to-point straight and the curved trajectories. The simulation results indicate that the quintic polynomial and S-type velocity profile have the optimal performance to keep the stiffness stable during the motion control and the travel time of the quintic polynomial can be optimized sufficiently while keeping stable.

scholarly journals Comparison of Planar Parallel Manipulator Architectures Based on a Multi-Objective Design Optimization Approach

2010 ◽  
Author(s):  
Damien Chablat ◽  
Ste´phane Caro ◽  
Raza Ur-Rehman ◽  
Philippe Wenger
Keyword(s):  
Genetic Algorithm ◽  
Design Optimization ◽  
Parallel Manipulator ◽  
Optimization Problem ◽  
Optimization Approach ◽  
Objective Functions ◽  
Multi Objective ◽  
Planar Parallel Manipulator ◽  
Moving Platform ◽  
Pareto Frontiers

This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular workspace size, i.e., the objective functions. The optimization problem is subject to constraints on the manipulator dexterity and stiffness. For a given external wrench, the displacements of the moving platform have to be smaller than given values throughout the obtained maximum regular dexterous workspace. The contributions of the paper are highlighted with the study of 3-PRR, 3-RPR and 3-RRR planar parallel manipulator architectures, which are compared by means of their Pareto frontiers obtained with a genetic algorithm.

An Optimization Approach Toward a Robust Design of Six Degrees of Freedom Haptic Devices

2015 ◽  
Vol 137 (4) ◽  
Author(s):  
Aftab Ahmad ◽  
Kjell Andersson ◽  
Ulf Sellgren
Keyword(s):  
Design Optimization ◽  
Robust Design ◽  
Degrees Of Freedom ◽  
Design Parameters ◽  
Manufacturing Cost ◽  
Optimization Approach ◽  
Performance Indices ◽  
New Approach ◽  
Haptic Devices ◽  
Six Degrees Of Freedom

This work presents an optimization approach for the robust design of six degrees of freedom (DOF) haptic devices. Our objective is to find the optimal values for a set of design parameters that maximize the kinematic, dynamic, and kinetostatic performances of a 6-DOF haptic device while minimizing its sensitivity to variations in manufacturing tolerances. Because performance indices differ in magnitude, the formulation of an objective function for multicriteria performance requirements is complex. A new approach based on Monte Carlo simulation (MCS) was used to find the extreme values (minimum and maximum) of the performance indices to enable normalization of these indices. The optimization approach presented here is formulated as a methodology in which a hybrid design-optimization approach, combining genetic algorithm (GA) and MCS, is first used. This new approach can find the numerical values of the design parameters that are both optimal and robust (i.e., less sensitive to variation and thus to uncertainties in the design parameters). In the following step, with design optimization, a set of optimum tolerances is determined that minimizes manufacturing cost and also satisfies the allowed variations in the performance indices. The presented approach can thus enable the designer to evaluate trade-offs between allowed performance variations and tolerances cost.

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