Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator

Jiang, Hongzhou; He, Jiping; Tong, Zhizhong

doi:10.1016/j.mechmachtheory.2009.12.003

Cited by 37 publications

(25 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Stoughton and Arai presented a modification of the Stewart platform and optimized its design with respect to a weighted sum of dexterity and workspace volume [1]. Zhou proposed an optimal design method based on dynamic isotropy [2]. Su used the condition number of Jacobian matrix as an objective function to get accurate trajectory tracking [3].…”

Section: Introductionmentioning

confidence: 99%

Design Optimization of 6-RUS Parallel Manipulator Using Hybrid Algorithm

Joumah¹,

Albitar²

2018

IJITCS

View full text Add to dashboard Cite

Abstract-In this paper, we present a study on the design optimization of the 6-RUS Stewart platform using a hybrid algorithm. The geometric and kinematic models are calculated. The optimization problem is formulated after determining the design parameters and defining a set of cost functions related to the size of the workspace and to the indices of the kinematic and static performance, which are the global conditioning index (GCI) and the global stiffness index (GSI).We started by studying the relation between the design parameters and the proposed cost functions, and then we invested the genetic algorithm to optimize each cost function separately. Moreover, we adopted a weighted cost function method to solve the Multi-Objective optimization problem.The convergence performance of the genetic algorithm (GA) and the particle swarm optimization (PSO) were compared, where the PSO algorithm showed better performance. Based on this, a hybrid PSO-PS method was proposed and the results are highly competitive as we obtained better general convergence performance.

show abstract

Section: Introductionmentioning

confidence: 99%

Design Optimization of 6-RUS Parallel Manipulator Using Hybrid Algorithm

Joumah¹,

Albitar²

2018

IJITCS

View full text Add to dashboard Cite

show abstract

“…In particular, the linearized equations of motion at the neutral configuration are of interest. These are well-known for GSPs from the literature [4][5][6][7][8][9]. However, despite the importance of dynamic isotropy as an optimal design solution, there exist a limited number of publications dealing with dynamic isotropy in GSPs.…”

Section: Introductionmentioning

confidence: 99%

“…However, despite the importance of dynamic isotropy as an optimal design solution, there exist a limited number of publications dealing with dynamic isotropy in GSPs. Jiang et al [4], for the case of 3-3 GSPs ( 0…”

Section: Introductionmentioning

confidence: 99%

A Class of Generalized Gough-Stewart Platforms Used for Effectively Obtaining Dynamic Isotropy – An Analytical Study

Far

Lidström

2015

MATEC Web of Conferences

View full text Add to dashboard Cite

Abstract. In this paper, we propose a class of Generalized Gough-Stewart Platforms (GGSPs) used, as a novel approach, to eliminate the classical isotropic constraint of GSPs (hexapods). GGSPs are based on the standard GSP architecture with additional rotations of the three strut-pairs. Despite the architectural generalization introduced in GGSPs, they do not require much more effort in order to be fabricated. This is due to the fact that all the struts (actuators) can be chosen identical, similar to standard GSPs. We analytically show how effectively the classical isotropic constraint is removed and that still sufficient simplicity is retained. Furthermore, this paper gives an intuitive understanding of dynamic isotropy in GGSPs as well as GSPs.

show abstract

“…Yet, spatial multi-DOF parallel motion systems have been widely applied in various fields, such as high fidelity simulators, spacecraft-docking system, and machine tools, since there are several advantages, high force-to-weigh ratio, high stiffness and accuracy for parallel motion systems [1][2][3]. The dynamic model is quite important and necessary for control and structure design, especially for the high real-time control system of a spatial 6-DOF parallel motion system (SPMS) which is used to be the test rig of spacecraft-docking motion system requiring excellent real-time control performances, precise positioning and good trajectory tracking performance.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and computational efficiency analysis for a spatial 6-DOF parallel motion system

et al. 2011

View full text Add to dashboard Cite

A common approach for simplification analysis of complex dynamic model is presented, and the simplified dynamic model of a spatial 6-DOF parallel motion system with high computational efficiency is proposed for high real time control. By using Kane method, the full dynamic model of a spatial 6-DOF parallel motion system viewed as 13 rigid bodies is built. With rigid body decomposition, the full dynamic model is separated into several parts firstly, and then some separated parts are further divided into many dynamic components in terms of motion separation and the relationship with acceleration or velocity. The contribution of each dynamic term is analyzed for a specified spatial 6-DOF parallel motion system, and the simplified model is derived. Comparing with full dynamic model, the simplified error is analyzed, and the computational efficiency of the simplified model is discussed in a real-time industrial computer. The simplified strategy is confirmed in simulation. The simplified error is less than 8%, the simplified model can improve the computational efficiency by more than 70%, and the execution time is less than 0.1 ms, which can achieve the requirements of high real time control. The numerical results illustrate that the proposed approach is feasible and effective for simplification analysis of dynamics and the derived simplified dynamic model can be used in real-time control system with small simplified error.

show abstract

Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator

Cited by 37 publications

References 25 publications

Design Optimization of 6-RUS Parallel Manipulator Using Hybrid Algorithm

Design Optimization of 6-RUS Parallel Manipulator Using Hybrid Algorithm

A Class of Generalized Gough-Stewart Platforms Used for Effectively Obtaining Dynamic Isotropy – An Analytical Study

Dynamic modeling and computational efficiency analysis for a spatial 6-DOF parallel motion system

Contact Info

Product

Resources

About