Abstract
This paper presents optimizations of a parallel kinematic manipulator used for a machine tool in terms of its workspace and stiffness. The system stiffness and workspace of the parallel manipulator are conducted in the paper. In order to locate the maximum system stiffness and workspace, single and multi-objective optimizations are performed in terms of rotation angles in x and y axes and translation displacement in z axis with genetic algorithms. By optimizing the design variables including geometric dimensions of the manipulator, the system stiffness and workspace of the proposed parallel kinematic manipulator has been greatly improved.
| Original language | English |
|---|---|
| Pages (from-to) | 281-293 |
| Number of pages | 13 |
| Journal | International Journal of Mechanics and Materials in Design |
| Volume | 9 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Sept 2013 |
| Externally published | Yes |
Keywords
- Genetic Algorithms
- Multi-objective optimization
- Parallel kinematic manipulator
- Stiffness
- Workspace
ASJC Scopus subject areas
- General Materials Science
- Mechanics of Materials
- Mechanical Engineering