A multi-level optimization methodology for determining the dextrous workspaces of planar parallel manipulators

被引:17
作者
Hay, AM [1 ]
Snyman, JA [1 ]
机构
[1] Univ Pretoria, Dept Mech Engn, Multidisciplinary Design Optimizat Res Grp, ZA-0002 Pretoria, South Africa
关键词
parallel manipulator; dextrous workspace; orientation workspace; chord method;
D O I
10.1007/s00158-005-0536-y
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
A numerical multi-level optimization methodology is proposed for determining dextrous workspaces of 3-degree-of-freedom (3-dof) planar parallel manipulators, in which it is required that at any point within the workspace, the manipulator is able to assume any orientation in a specified range. The method starts by finding a single initial point on the boundary of the dextrous workspace. This first stage requires the successive solution of three separate optimization sub-problems, where the evaluation of the objective function for the second problem and the constraint functions in the third problem are determined by the solution of appropriate optimization problems at a lower level. Once the boundary point is identified, further successive points along the dextrous workspace boundary are traced by the application of the so-called chord method. In the latter procedure, the determination of each successive boundary point is also obtained via a constrained optimization problem, where the constraint functions are again evaluated via the solution of an optimization problem at a lower level. The proposed method is illustrated by its successful application to three different manipulator design geometries, and for various ranges of dexterity.
引用
收藏
页码:422 / 427
页数:6
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