Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms

Masouleh, Mehdi Tale; Gosselin, Clément; Saadatzi, Mohammad Hossein; Kong, Xianwen; Taghirad, Hamid D.

doi:10.1007/s11012-010-9393-x

Cited by 34 publications

(18 citation statements)

References 16 publications

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“…what quali es it as an MOOP, is the fact that it comprises objectives being in con ict with each other [48]. More clearly, optimizing the design parameters using SOO procedures aiming at maximizing the area or volume of the workspace [49,50], in most cases, will result in noticeably weak kinetostatic performance, which is represented, in the context of this paper, by kinematic sensitivity, and functionally disturbing levels of discontinuity and singularity, where those leading to great kinematic sensitivity usually su er from extremely limited workspaces, which are not practically useful. More clearly, in the latter case, the optimization process naturally tends to limit the workspace to the point or region that denotes the best possible kinematic sensitivity.…”

Section: Review Of the Case-study: Moo Of The Point-displacement And mentioning

confidence: 99%

PPCOF: A Robust Proportion-Preserving Composite Objective Function for Scale-Invariant Multi-Objective Optimization

et al. 2017

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Abstract. This paper aims to introduce a proportion-preserving composite objective function for multi-objective optimization, namely, PPCOF, and validate its e ciency through demonstrating its applicability to optimization of the kinetostatic performance of planar parallel mechanisms. It exempts the user from both specifying preference factors and conducting decision-making. It consists of two terms. The rst one adds the normalized objective functions up, where the extrema result from single-objective optimization. To make the composite objective function steer the variations of the objective functions while preserving rational proportions between them, as the main contribution of the paper, it is sought that the normalized objective functions take closely similar values, to which end they are juxtaposed inside a vector, which is then scaled such that its Euclidean norm-2 is equal to that of the vector of all ones with the same dimensions. Then, the second term is constructed as the addition of penalty factors standing for the absolute value of the di erence between each element of the foregoing vector from 1. From the obtained results, with considerably smaller computational cost, the PPCOF obtains an optimal solution that is not dominated by any point from a set of Pareto-optimal solutions o ered by NSGA-II.

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Section: Review Of the Case-study: Moo Of The Point-displacement And mentioning

confidence: 99%

PPCOF: A Robust Proportion-Preserving Composite Objective Function for Scale-Invariant Multi-Objective Optimization

et al. 2017

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“…Es bien sabido que el análisis de posición de manipuladores paralelos compuestos por cadenas tipo PRUR es una tarea compleja debido a la necesidad de calcular variables intermedias, Masouleh et al (2011a).…”

Section: Análisis De Desplazamientosunclassified

Análisis Cinemático del Manipulador Paralelo 4- P RUR Mediante la Teoría de Tornillos

Gallardo-Alvarado

Garcia-Murillo

2017

Revista Iberoamericana de Automática e Informática Industrial R

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ResumenEn este trabajo se presenta el análisis cinemático de un robot paralelo generador del movimiento de Schönflies por medio de la teoría de tornillos. Como un paso intermedio, el análisis de posición se obtiene en forma semi-cerrada con base en las coordenadas de dos puntos de la plataforma móvil. Esta estrategia requiere de sólo un marco de referencia, evitando así el cálculo de la matriz de rotación. Las ecuaciones entrada-salida de velocidad y de aceleración se obtienen sistemáticamente recurriendo a la teoría de tornillos recíprocos. Para ello, el robot se modela como si fuese un manipulador paralelo de seis grados de libertad gracias a la incorporación de pares cinemáticos ficticios que conectan las extremidades con la plataforma fija y una cadena cinemática virtual con la finalidad de aplicar sin restricciones elálgebra de Lie se(3) del grupo Euclideo S E(3). El análisis de singularidades se aborda con base en la ecuación entrada-salida de velocidad. Se incluyen ejemplos numéricos que muestran la aplicación del método.

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“…Many domestic and foreign scholars make deep study on the workspace of parallel mechanism. The solving ways mainly include analytical method and numerical methods [7,8] . In the study of analytical method, geometric method is representative.…”

Section: Analyze the Precise Workpace Of Radiotherapy Bedmentioning

confidence: 99%

The research of structure parameter optimization process for a novel parallel radiotherapy bed

Guo

Zhang

et al. 2015

2015 IEEE International Conference on Mechatronics and Automation (ICMA)

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In order to guarantee the preoperative and intraoperative precise positioning demand of the radiotherapy bed in the radiation process, utilizing the advantages of parallel mechanism, in this paper, a parallel structure radiotherapy bed was designed to meet the demands of high positioning precision, high stiffness, high carrying capacity and flexible configuration space which could cover the shortage of the conventional radiotherapy bed. Firstly, this paper analyzed the precise workspace of the radiotherapy bed with kinematics inverse solved by vector algebra method and studied the influence of workspace by changing the rule of all parameters as well as finding the relationships between them in the condition that the size of the moving platform and the fixed platform were limited. Then, in order to meet the requirements of stability and security of the radiotherapy bed, considering the workspace and the forces on it, a new parameter optimization process was proposed with constructing the objective function of the Jacobian matrix condition number, the universe average of condition number and the fluctuation of condition number. The simulation analysis results demonstrated that the overall performance of the radiotherapy bed was considerably improved with the smaller dimensions of the radiotherapy bed, the significantly reduced forces on the structure in the workspace and the smaller condition number of Jacobian matrix with uniform distribution in the whole workspace.

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Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms

Cited by 34 publications

References 16 publications

PPCOF: A Robust Proportion-Preserving Composite Objective Function for Scale-Invariant Multi-Objective Optimization

PPCOF: A Robust Proportion-Preserving Composite Objective Function for Scale-Invariant Multi-Objective Optimization

Análisis Cinemático del Manipulador Paralelo 4- P RUR Mediante la Teoría de Tornillos

The research of structure parameter optimization process for a novel parallel radiotherapy bed

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