Multi-objective Optimization of a Tripod Parallel Mechanism for a Robotic Leg

被引：0
|
作者：
Russo, Matteo [1 ]
Herrero, Saioa [2 ]
Altuzarra, Oscar [2 ]
Ceccarelli, Marco [1 ]
机构：
[1] Univ Cassino & South Latium, LARM Lab Robot & Mechatron, Cassino, Italy
[2] Univ Basque Country, UPV EHU, Mech Engn Dept, Bilbao, Spain
来源：
COMPUTATIONAL KINEMATICS | 2018年 / 50卷
关键词：
Multi-objective optimization; Robot design; Leg mechanisms; Parallel robots; DESIGN;
D O I：
10.1007/978-3-319-60867-9_43
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the multi-objective optimization of a three-degree-of-freedom parallel manipulator. First, the geometry of the mechanism is described and its kinematic and static performance is characterized with closed-form expressions of workspace volume and force efficiency. These indices are used as objective functions of the optimization, which is then conduced in order to compute the optimal design of the manipulator. Finally, the results of the multi-objective optimization are reported and discussed.
引用
收藏
页码：374 / 382
页数：9
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