Design, analysis, and stiffness optimization of a three degree of freedom parallel manipulator

被引：52

作者：

Gao, Zhen ^{[2
,3
]}

Zhang, Dan ^{[1
]}

Hu, Xiaolin ^{[1
]}

Ge, Yunjian ^{[2
]}

机构：

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

[2] Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Anhui, Peoples R China

[3] Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China

来源：

ROBOTICA | 2010年 / 28卷

基金：

加拿大自然科学与工程研究理事会;

关键词：

Parallel manipulator; Stiffness optimization; Artificial intelligence approaches; degree of freedom; Parallelogram structure;

D O I：

10.1017/S0263574709005657

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper proposed a novel three degree of freedom (DOF) parallel manipulator two translations and one rotation. The mobility study and inverse kinematic analysis are conducted, and a CAD model is presented showing the design features. The optimization techniques based on artificial intelligence approaches are investigated to improve the system stiffness of the proposed 3-DOF parallel manipulator. Genetic algorithms and artificial neural networks are implemented as the intelligent optimization methods for the stiffness synthesis. The mean value and the standard deviation of the global stiffness distribution are proposed as the design indices. Both the single objective and multi-objective optimization issues are addressed. The effectiveness of this methodology is validated with Matlab.

引用

页码：349 / 357

页数：9

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