Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 349-357 |
| Number of pages | 9 |
| Journal | Robotica |
| Volume | 28 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - May 2010 |
| Externally published | Yes |
Keywords
- Artificial intelligence approaches
- degree of freedom
- Parallel manipulator
- Parallelogram structure
- Stiffness optimization
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- General Mathematics
- Computer Science Applications