TY - GEN
T1 - Global stiffness modeling and optimization of a 5-DOF parallel mechanism
AU - Zhang, Dan
PY - 2009
Y1 - 2009
N2 - Global Stiffness design and optimization of parallel mechanisms can be a difficult and time-consuming exercise in parallel robot design, especially when the variables are multifarious and the objective functions are too complex. To address this issue, optimization techniques based on kinetostatic model and genetic algorithms are investigated as the effective criteria. First, a 5-DOF parallel mechanism with a passive constraining leg and five identical legs with prismatic actuators for machine tool is proposed, and its corresponding inverse kinematics, Jacobian matrices and global velocity equation are derived. Second, with the kinetostatic model, the mean value and the standard deviation of the trace of the global compliance distribution are proposed as these two kinetostatic performance indices. Finally, the effectiveness of this optimization design methodology for global stiffness indices is validated with simulation.
AB - Global Stiffness design and optimization of parallel mechanisms can be a difficult and time-consuming exercise in parallel robot design, especially when the variables are multifarious and the objective functions are too complex. To address this issue, optimization techniques based on kinetostatic model and genetic algorithms are investigated as the effective criteria. First, a 5-DOF parallel mechanism with a passive constraining leg and five identical legs with prismatic actuators for machine tool is proposed, and its corresponding inverse kinematics, Jacobian matrices and global velocity equation are derived. Second, with the kinetostatic model, the mean value and the standard deviation of the trace of the global compliance distribution are proposed as these two kinetostatic performance indices. Finally, the effectiveness of this optimization design methodology for global stiffness indices is validated with simulation.
UR - http://www.scopus.com/inward/record.url?scp=77449130391&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2009.5246001
DO - 10.1109/ICMA.2009.5246001
M3 - Conference article published in proceeding or book
AN - SCOPUS:77449130391
SN - 9781424426935
T3 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
SP - 3551
EP - 3556
BT - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
T2 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Y2 - 9 August 2009 through 12 August 2009
ER -