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Design optimization of parallel manipulators for high-speed precision machining applications

Year: 2009

Type: preprint

Abstract: The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the non-homogenous design specification, the developed optimization technique transforms all constraints and objectives into similar performance indices related to the maximum size of the prescribed shape workspace. This transformation is based on the dedicated dynamic programming procedures that satisfy computational requirements of modern CAD. Efficiency of the developed technique is demonstrated via two case studies that deal with optimization of the kinematical and stiffness performances for parallel manipulators of the Orthoglide family.

Source: arXiv (Cornell University)

DOI: 10.48550/arxiv.0909.1475

Authors: Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

Institution: Institut de recherche en communications et cybernétique de Nantes

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W6891780015

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