Kinematic Performance Measures and Optimization of Parallel Kinematics Manipulators: A Brief Review

Abstract

This chapter covers a number of kinematic performance indices that are instrumental in designing parallel kinematics manipulators. These indices can be used selectively based on manipulator requirements and functionality. This would provide the very practical tool for designers to approach their needs in a very comprehensive fashion. Nevertheless, most applications require a more composite set of requirements that makes optimizing performance more challenging. The later part of this chapter will discuss single-objective and multi-objectives optimization that could handle certain performance indices or a combination of them. A brief description of most common techniques in the literature will be provided.

Review article: Performance measures of parallel kinematics manipulators

“…A stiffness matrix defines the relation between deformation vector and wrench vector. It can be derived as the Hessian of potential energy associated to the wrench with respect to the coordinates (Ruggiu, 2012;Quennouelle and Gosselin, 2012). Compliance (flexibility), defined as the inverse of the stiffness, is also often used to indicate the stiffness.…”

“…The generalized stiffness matrix, according to Quennouelle and Gosselin (2012), is comprised of three components namely stiffness of the unconstrained joints, stiffness due to dependent coordinates and internal wrench, and stiffness due to external wrench. The Cartesian stiffness matrix defines the relation between the variation of wrench applied on the end-effector and the variation of the Cartesian displacements (Ruggiu, 2012). It is the most widely used expression of stiffness in manipulator field.…”

“…However, a reader interested in more details should refer to corresponding references. This paper is a major extension of the authors' shorter review previously published (Rosyid et al, 2017) with the following differences. First, while the previous paper only discusses the kinematic performance measures, this paper also includes the dynamic performance measures.…”