Design for Optimal Performance of 3-RPS Parallel Manipulator Using Evolutionary Algorithms

Babu, Sabbavarapu Ramana; Raju, Vegesina Ramachandra; Ramji, K.

doi:10.1139/tcsme-2013-0009

Cited by 14 publications

(8 citation statements)

References 34 publications

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“…Specifically, linearly driven six legs which are connected to a mobile and a base platform cause a full spatial motion of 3-axis translational and 3-axis rotational motion. This PRS is called Stewart Platform [20,25,26] and classified by the number of leg connections on upper and lower platforms. A 3x3 SP includes 3 connections on lower and upper side of the legs.…”

Section: Mechanism Of the Prsmentioning

confidence: 99%

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SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace

Eryılmaz

Omurlu

2019

Journal of Robotics

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The determination of kinematic parameters for a parallel robotic system (PRS) is an important and a critical phase to maximize reachable workspace while avoiding singular configurations. Stewart Platform (SP) mechanism is one of the widely known PRS and it is used to demonstrate the proposed technique. In the related literature, GCI (Global Condition Index) and LCI (Local Condition Index) are the commonly used performance indexes which give a measure about the dexterity of a mechanism. In this work, Sequential Quadratic Programming (SQP) method is used to optimize kinematic parameters of a 6dof 3x3 UPU SP in order to reach maximum workspace satisfying small condition numbers. The radius of mobile and base platforms and the lengths of the legs used in the platform are chosen as kinematic parameters to be optimized in a multiobjective optimization problem. Optimization is performed at different stages and the number of optimized kinematic parameters is increased at each level. In conclusion, optimizing selected kinematic parameters at once by using SQP technique presents the best results for the PRS.

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Section: Mechanism Of the Prsmentioning

confidence: 99%

“…It is an indicator of the uniform dexterous workspace. Calculation of uniformity index is shown in equation (25). Uniformity index value changes between 1 and infinity.…”

Section: Uniformitymentioning

confidence: 99%

SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace

Eryılmaz

Omurlu

2019

Journal of Robotics

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“…Where Di The aim is to minimize the values of deformities of the platform by increasing the value of GSI coefficient [17].…”

Section: B Global Stiffness Index (Gsi)mentioning

confidence: 99%

Design Optimization of 6-RUS Parallel Manipulator Using Hybrid Algorithm

Joumah¹,

Albitar²

2018

IJITCS

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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.

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“…The robot under study is the 3-RPS parallel PSfrag replacements robot with three degrees of freedom. It been studied by many researchers [8,9]. It is the assembly of two equilateral triangles (the base and the moving platform) by three identical RPS legs where R is a revolute passive joint, P an prismatic joint and S a passive spherical joint.…”

Section: Mechanism Under Studymentioning

confidence: 99%

Non-singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot

Chablat¹,

Jha²,

Rouillier

et al. 2014

Advances in Robot Kinematics

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Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects and the characteristic surfaces are computed for each operation mode to define the uniqueness of the domains. Thus, we can easily see in the workspace that at least three assembly modes can be reached for each operation mode. To validate this property, the mathematical analysis of the determinant of the Jacobian is done. The image of these trajectories in the joint space is depicted with the curves associated with the cusp points.

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Design for Optimal Performance of 3-RPS Parallel Manipulator Using Evolutionary Algorithms

Cited by 14 publications

References 34 publications

SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace

SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace

Design Optimization of 6-RUS Parallel Manipulator Using Hybrid Algorithm

Non-singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot

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