Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

Abstract

This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increasedentropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a preexisting base model.

High-order singularities of 5R planar parallel robots

“…At a parallel singularity, the determinant D appearing in the denominators of Eqs. (13) and (14) becomes zero, as also previously mentioned. Thus, the Lagrange multipliers become undefined at such a singular configuration.…”

A geometric approach to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function

“…These authors proposed an optimum design method which satisfied the desired orientation of the sub-workspace at the boundary of the translation workspace [17]. Among the studies conducted on the workspace of 6-DOF mechanism, research on Stewart-Gough parallel manipulators was typical.…”

Closed-form solution for reachable workspace of axially symmetric hexapod robots

“…However, the work completed in this paper focuses specifically on the RW of axially symmetric hexapod walking robots. In general, the closed-form solution for the workspace of parallel manipulators facilitates the process of workspacebased optimal design of the robot as well as workspace optimization which have been previously completed using numerical methods [25][26][27][28][29][30][31].…”