@inproceedings{eea951cef8554c32b170f7ca4b7cd16f,
title = "Global stiffness and well-conditioned workspace optimization analysis of 3UPU-UPU robot based on pareto front theory",
abstract = "In this paper, an approach based on the Pareto front theory is employed to conduct the multi-objective optimization of the global stiffness and well-conditioned workspace of 3UPU-UPU parallel mechanism. The inverse kinematic and Jacobian matrix of the 3UPU-UPU mechanism are first calculated. Then the stiffness model of the mechanism is derived and the sum of the diagonal elements of the stiffness matrix is used as a criterion to evaluate the global stiffness. Secondly, the Monte Carlo method is used to derive the global condition index of the mechanism which later is used as a criterion to evaluate the well-conditioned workspace of the mechanism. Normally, increasing the workspace of the mechanism will deteriorate the stiffness, here the global stiffness and well-conditioned workspace of the mechanism are optimized simultaneously based on the Pareto front theory, and the optimized results are displayed and compared.",
keywords = "Global stiffness, Modelling, Optimization, Parallel robot, Well-conditioned workspace",
author = "Dan Zhang and Bin Wei",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 12th International Conference on Cooperative Design, Visualization, and Engineering, CDVE 2015 ; Conference date: 20-09-2015 Through 23-09-2015",
year = "2015",
doi = "10.1007/978-3-319-24132-6_15",
language = "English",
isbn = "9783319241319",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "124--133",
editor = "Yuhua Luo",
booktitle = "Cooperative Design, Visualization, and Engineering - 12th International Conference, CDVE 2015, Proceedings",
address = "Germany",
}