The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace

Hwang, Yoon-Kwon; Yoon, Jungwon; Ryu, Jeha

doi:10.1109/sice.2006.315433

Cited by 9 publications

(6 citation statements)

References 13 publications

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“…Thus, it is difficult to apply this parallel manipulators type to a haptic device that requires simultaneously large 3-D translational and rotational motions over the entire workspace. Most six-DOF parallel manipulators for applications with both positioning and orienting motions have these types of difficulties, and cannot guarantee good amount of rotational motion throughout the prescribed 3-D translation workspace [13].…”

Section: Introductionmentioning

confidence: 99%

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

2010

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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.

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Section: Introductionmentioning

confidence: 99%

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

2010

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“…[27][28][29] These studies are also integrated with the workspace concept due to the objective of obtaining singularity-free workspace [30][31][32][33][34] and with an optimal design. [35][36][37][38][39] Another requirement to be able to have an optimal design is monitoring the forces during the motion. 40,41 Due to the technological requirements, still there are many subjects to discover about the design of parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%

Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis

Sarıgül

Güneri²

2013

Robotica

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SUMMARYIn this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientations. The computations extend to a parametric study of some geometric and kinematic constraints: Joint angle, rotation angle, and limb length. Actuator force is another parameter considered; and the triple relationship between workspace, joint angle, and actuator force is discussed. Parametric analyses are culminated with a brief discussion of the real design parameters.

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“…After the kinematic and dynamic analysis of this mechanism, several advantages are proposed which shows it is possible to improve the dynamic performance through mechanism optimization. Different from the existing optimization method for manipulators which mostly focus on workspace and isotropy [9]- [11], in this paper, the dynamic and control performance is mainly considered. The indexes both for kinematic and dynamic performance are proposed as objective functions and design constraints.…”

Section: Introductionmentioning

confidence: 99%

Optimal design for a 2-dof high dynamic manipulator based on parallelogram mechanism

Kong

You²,

Du³

et al. 2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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In this paper, a design and optimization approach for a 2-dof manipulator based on parallelogram mechanism for high dynamic application is proposed. After the kinematic and dynamic analysis, several advantages of the mechanism are illustrated which make it possible to reach good dynamic performance through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective optimization method is presented. Several index considering both kinematic and dynamic performances are chosen as objective functions and design constraints. The cross-section area and length of the linkages are chosen as the design variables. NSGA-II algorithm is introduced to solve this complex multi-objective optimization problem. And a new expression for the measuring of dynamic coupling degree with clear physical meaning is proposed, it shows that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint could be regarded as a linear SISO system. The final optimized mechanism could be used in high speed pick-plate applications only using simple linear controller.

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The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace

Cited by 9 publications

References 13 publications

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

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

Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis

Optimal design for a 2-dof high dynamic manipulator based on parallelogram mechanism

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