A prototype parallel manipulator: kinematics, construction, software, workspace results, and singularity analysis

Cleary, K.; Arai, Tatsuo

doi:10.1109/robot.1991.131641

Cited by 72 publications

(16 citation statements)

References 6 publications

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“…Stan (Stan, 2003) presented a genetic algorithm approach for multi-criteria optimization of PKM (Parallel Kinematics Machines). Most of the numerical methods to determine workspace of parallel manipulators rest on the discretization of the pose parameters in order to determine the workspace boundary (Cleary & Arai, 1991), (Ferraresi et al, 1995). In the discretization approach, the workspace is covered by a regularly arranged grid in either Cartesian or polar form of nodes.…”

Section: Workpacementioning

confidence: 99%

Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom

Stan¹

2008

Parallel Manipulators, Towards New Applications

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Section: Workpacementioning

confidence: 99%

Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom

Stan¹

2008

Parallel Manipulators, Towards New Applications

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“…Thus it is necessary to develop a numerically controlled system compatible with parallel kinematic machine tools. The numerically controlled system of parallel kinematic machine tools can be classified into 2 kinds [1][2][3][4][5][6][7][8][9][10] . Most of them are exploited aiming at a certain parallel structure, so they belong to special-purpose closed controlling moods, which are specific and simple, but hard to be as mature as traditional numerically controlled systems.…”

Section: Introductionmentioning

confidence: 99%

The Research on Embedded Parallel Machine Tool Based on an Open Numerically Controlled Platform

Xie

Zhang

2010

2010 International Conference on Digital Manufacturing &Amp; Automation

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This paper compares the characteristics of the numerically controlled systems of the parallel machine tools and the traditional ones. Based on an open numerically controlled platform, a method of developing the numerically controlled system of a parallel machine tool is proposed. So long as the numerical program is embedded into a mature numerically controlled platform as a functional module through a standard interface, the general function of the platform could be shared. Finally, we take a 5-strut-5-dof parallel kinematic machine tool, which is developed by ourselves, as an example. On the basis of EMC open numerically controlled platform, an inverse mathematical model is embedded into the parallel kinematic machine tool. After recompiling, a correct result is got. Thus we conclude that it is a fast, low-cost and very efficient method. The idea and methodology could also be applied to other numerically controlled systems of parallel machine tools.

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“…Stan [14] presented a genetic algorithm approach for multi-criteria optimization of PKM. Most of the numerical methods to determine workspace of parallel manipulators rest on the discretization of the pose parameters in order to determine the workspace boundary [15,16]. Other authors proposed to determine the workspace by using optimization [14].…”

Section: Introductionmentioning

confidence: 99%

Potentialities of Optimal Design Methods for the Development of Mini Parallel Robots Using Genetic Algorithms

Stan

Mătieş

Bălan

2007

2007 IEEE International Conference on Automation and Logistics

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This paper is aimed at presenting a study on the optimization of the Biglide and Bipod mini parallel robots, which comprises two-degree-of-freedom (DOF) mini parallel robots with constant and variable struts. The robot workspace is characterized and the inverse kinematics equation is obtained. In the paper, design optimization is implemented with Genetic Algorithms (GA) for optimization considering transmission quality index, design space and workspace. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem of 2 DOF mini parallel robots. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. It's also proposed an algorithm that is also useful when the aim is to find only a representative subset of all Pareto-optimal solutions. Index Terms -optimal design, mini parallel robots, genetic algorithms.

show abstract

A prototype parallel manipulator: kinematics, construction, software, workspace results, and singularity analysis

Cited by 72 publications

References 6 publications

Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom

Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom

The Research on Embedded Parallel Machine Tool Based on an Open Numerically Controlled Platform

Potentialities of Optimal Design Methods for the Development of Mini Parallel Robots Using Genetic Algorithms

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