Elastodynamic optimization of parallel kinematics

Krefft, Mathias; Hesselbach, Jürgen

doi:10.1109/coase.2005.1506795

Cited by 22 publications

(22 citation statements)

References 4 publications

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“…Mean of the minimum singular value has also been proposed as global measure in order to characterize the path velocity of parallel robots (Krefft & Hesselbach, 2005b). Since mean values are not sufficient to guarantee homogeneity of performance, standard deviation of the minimum singular value has also been introduced as a measure (Krefft & Hesselbach, 2005b). Other global indices include global payload index that measures the force transmission capability (Ozaki et al, 1996).…”

Section: Measuring Kinematic and Dynamic Performancementioning

confidence: 99%

“…Moreover, integrating a local measure can be computationally expensive. Mean of the minimum singular value has also been proposed as global measure in order to characterize the path velocity of parallel robots (Krefft & Hesselbach, 2005b). Since mean values are not sufficient to guarantee homogeneity of performance, standard deviation of the minimum singular value has also been introduced as a measure (Krefft & Hesselbach, 2005b).…”

Section: Measuring Kinematic and Dynamic Performancementioning

confidence: 99%

“…Among several approaches proposed in literature, normalization with a characteristic length (Khan & Angeles, 2006;Krefft & Hesselbach, 2005b) or a nominal link length (Lee et al, 2001), and partitioning the matrices into translational and rotational parts (Krefft & Hesselbach, 2005b;Lee & Kim, 2006) are the most popular choices. Normalization is not necessary for the sample problem presented in this chapter, as it possesses only a translational workspace.…”

Section: Measuring Kinematic and Dynamic Performancementioning

confidence: 99%

“…Pareto methods allow the designer to make an informed decision by studying a wide range of options, since they contain solutions that are optimum from an overall standpoint; unlike scalarization techniques that may ignore this trade-off viewpoint. In literature Krefft et al applied a modified genetic algorithm (GA) based Pareto method to design parallel mechanisms (Krefft & Hesselbach, 2005a;Krefft et al, 2005). Similarly, in (Stan et al, 2006) GA is applied to multi criteria optimization of a 2-DoF parallel robot.…”

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confidence: 99%

See 3 more Smart Citations

Optimal Design of Haptic Interfaces

Patoğlu¹,

Satici²

2010

Advances in Haptics

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Section: Measuring Kinematic and Dynamic Performancementioning

confidence: 99%

Section: Measuring Kinematic and Dynamic Performancementioning

confidence: 99%

Section: Measuring Kinematic and Dynamic Performancementioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

Optimal Design of Haptic Interfaces

Patoğlu¹,

Satici²

2010

Advances in Haptics

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“…Pareto methods allow the designer to make an informed decision by studying a wide range of options, since they contain solutions that are optimum from an overall standpoint; unlike scalarization techniques that may ignore this trade-off viewpoint. In literature Krefft et al applied a modified genetic algorithm (GA) based Pareto method to design of parallel mechanisms [3], [10]. Similarly, in [11] GA is applied to multi criteria optimization of a 2-DoF parallel robot.…”

Section: Introductionmentioning

confidence: 99%

Optimal dimensional synthesis of force feedback lower arm exoskeletons

Ünal

Patoğlu

2008

2008 2nd IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics

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Abstract-This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic interfaces. Multiple design objectives are discussed and classified for the devices and the optimization problem to study the trade-offs between these criteria is formulated. Dimensional syntheses are performed for optimal global kinematic and dynamic performance, utilizing a Pareto front based framework, for two spherical parallel mechanisms that satisfy the ergonomic necessities of a human forearm and wrist. Two optimized mechanisms are compared and discussed in the light of multiple design criteria. Finally, kinematic structure and dimensions of an optimal exoskeleton are decided.

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Multiobjective Design Optimization of 3–PRR Planar Parallel Manipulators

Caro

Chablat

Ur-Rehman

et al. 2011

Global Product Development

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This paper addresses the dimensional synthesis of parallel kinematics machines. A multiobjective optimization problem is proposed in order to determine optimum structural and geometric parameters of parallel manipulators. The proposed approach is applied to the optimum design of a three-degree-of-freedom planar parallel manipulator in order to minimize the mass of the mechanism in motion and to maximize its regular shaped workspace.

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Elastodynamic optimization of parallel kinematics

Cited by 22 publications

References 4 publications

Optimal Design of Haptic Interfaces

Optimal Design of Haptic Interfaces

Optimal dimensional synthesis of force feedback lower arm exoskeletons

Multiobjective Design Optimization of 3–PRR Planar Parallel Manipulators

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