Optimization and stiffness performance analysis for 3-DOF spatial and spherical parallel mechanisms

Dan Zhang; Bin Wei

doi:10.1115/IMECE201666682

Optimization and stiffness performance analysis for 3-DOF spatial and spherical parallel mechanisms

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

This paper focuses on the optimization and stiffness performance analysis of three kinds of three degrees of freedom (DOF) spatial and spherical parallel mechanisms. Firstly, the kinematic model and the Jacobian matrix for the 3-DOF parallel mechanisms are established and solved, and the objective functions for stiffness and workspace optimization are formed; secondly, by using stiffness and workspace as objective functions and applying different multi-objective optimization methods, the general procedure for the multi-objective optimization problem for the parallel mechanisms are established. Finally, the correspondence and the differences between several stiffness models are compared and illustrated.

Original language	English
Title of host publication	Dynamics, Vibration, and Control
Publisher	American Society of Mechanical Engineers(ASME)
ISBN (Electronic)	9780791850541
DOIs	https://doi.org/10.1115/IMECE201666682
Publication status	Published - 2016
Externally published	Yes
Event	ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016 - Phoenix, United States Duration: 11 Nov 2016 → 17 Nov 2016

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	4A-2016

Conference

Conference	ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016
Country/Territory	United States
City	Phoenix
Period	11/11/16 → 17/11/16

ASJC Scopus subject areas

Mechanical Engineering

More information

10.1115/IMECE201666682

Cite this

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title = "Optimization and stiffness performance analysis for 3-DOF spatial and spherical parallel mechanisms",

abstract = "This paper focuses on the optimization and stiffness performance analysis of three kinds of three degrees of freedom (DOF) spatial and spherical parallel mechanisms. Firstly, the kinematic model and the Jacobian matrix for the 3-DOF parallel mechanisms are established and solved, and the objective functions for stiffness and workspace optimization are formed; secondly, by using stiffness and workspace as objective functions and applying different multi-objective optimization methods, the general procedure for the multi-objective optimization problem for the parallel mechanisms are established. Finally, the correspondence and the differences between several stiffness models are compared and illustrated.",

author = "Dan Zhang and Bin Wei",

note = "Publisher Copyright: Copyright {\textcopyright} 2016 by ASME.; ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016 ; Conference date: 11-11-2016 Through 17-11-2016",

year = "2016",

doi = "10.1115/IMECE201666682",

language = "English",

series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",

publisher = "American Society of Mechanical Engineers(ASME)",

booktitle = "Dynamics, Vibration, and Control",

address = "United States",

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Zhang, D & Wei, B 2016, Optimization and stiffness performance analysis for 3-DOF spatial and spherical parallel mechanisms. in Dynamics, Vibration, and Control. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 4A-2016, American Society of Mechanical Engineers(ASME), ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016, Phoenix, United States, 11/11/16. https://doi.org/10.1115/IMECE201666682

Optimization and stiffness performance analysis for 3-DOF spatial and spherical parallel mechanisms. / Zhang, Dan; Wei, Bin.
Dynamics, Vibration, and Control. American Society of Mechanical Engineers(ASME), 2016. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 4A-2016).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - This paper focuses on the optimization and stiffness performance analysis of three kinds of three degrees of freedom (DOF) spatial and spherical parallel mechanisms. Firstly, the kinematic model and the Jacobian matrix for the 3-DOF parallel mechanisms are established and solved, and the objective functions for stiffness and workspace optimization are formed; secondly, by using stiffness and workspace as objective functions and applying different multi-objective optimization methods, the general procedure for the multi-objective optimization problem for the parallel mechanisms are established. Finally, the correspondence and the differences between several stiffness models are compared and illustrated.

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Optimization and stiffness performance analysis for 3-DOF spatial and spherical parallel mechanisms

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