Multi-objective optimization of stiffness and workspace for a parallel kinematic machine

被引：49

作者：

Chi, Zhongzhe ^{[1
]}

Zhang, Dan ^{[1
,2
]}

Xia, Lian ^{[2
]}

Gao, Zhen ^{[1
]}

机构：

[1] Univ Ontario, Inst Technol, Fac Engn & Appl Sci, Oshawa, ON L1H 7K4, Canada

[2] Hefei Univ Technol, Sch Mech & Automot Engn, Hefei 230009, Anhui, Peoples R China

来源：

INTERNATIONAL JOURNAL OF MECHANICS AND MATERIALS IN DESIGN | 2013年 / 9卷 / 03期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Parallel kinematic manipulator; Multi-objective optimization; Genetic Algorithms; Stiffness; Workspace; STEWART PLATFORM; DESIGN; SENSOR; MECHANISM; FORCE;

D O I：

10.1007/s10999-013-9219-9

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents optimizations of a parallel kinematic manipulator used for a machine tool in terms of its workspace and stiffness. The system stiffness and workspace of the parallel manipulator are conducted in the paper. In order to locate the maximum system stiffness and workspace, single and multi-objective optimizations are performed in terms of rotation angles in x and y axes and translation displacement in z axis with genetic algorithms. By optimizing the design variables including geometric dimensions of the manipulator, the system stiffness and workspace of the proposed parallel kinematic manipulator has been greatly improved.

引用

页码：281 / 293

页数：13

共 25 条

[11]

Howell L.L., 2001, COMPLIANT MECH

[12] An XYZ Micromanipulator with three translational degrees of freedom [J].

Jensen, Kimberly A. ;

Lusk, Craig P. ;

Howell, Larry L. .

ROBOTICA, 2006, 24 :305-314

[13] Design and analysis of a novel isotropic six-component force/torque sensor [J].

Jin, ZL ;

Gao, F ;

Zhang, XH .

SENSORS AND ACTUATORS A-PHYSICAL, 2003, 109 (1-2) :17-20

[14] Development of 6-axis force/moment sensor for a humanoid robot's intelligent foot [J].

Kim, Gab-Soon ;

Shin, Hi-Jun ;

Yoon, Jungwon .

SENSORS AND ACTUATORS A-PHYSICAL, 2008, 141 (02) :276-281

[15] Dynamic formulation and performance comparison of the 3-DOF modules of two reconfigurable PKM - The tricept and the TriVariant [J].

Li, M ;

Huang, T ;

Mei, JP ;

Zhao, XM ;

Chetwynd, DG ;

Hu, SJ .

JOURNAL OF MECHANICAL DESIGN, 2005, 127 (06) :1129-1136

[16] Wearable force sensor with parallel structure for measurement of ground-reaction force [J].

Liu, Tao ;

Inoue, Yoshio ;

Shibata, Kyoko .

MEASUREMENT, 2007, 40 (06) :644-653

[17] WORKSPACE EVALUATION OF STEWART PLATFORMS [J].

MASORY, O ;

WANG, J .

ADVANCED ROBOTICS, 1995, 9 (04) :443-461

[18]

Merlet JP, 2006, SOLID MECH APPL, V128, P1, DOI 10.1007/1-4020-4133-0

[19]

Palmer J.A., 2004, IEEE-ASME T MECH, V13, P441

[20] THE STEWART PLATFORM OF GENERAL GEOMETRY HAS 40 CONFIGURATIONS [J].

RAGHAVAN, M .

JOURNAL OF MECHANICAL DESIGN, 1993, 115 (02) :277-282

← 1 2 3 →