Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy
Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy
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DOI：
10.1115/1.4003879
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发表时间：
2011-04
影响因子：
3.3
通讯作者：
O. Altuzarra;Charles Pinto;B. Sandru;A. Hernández
中科院分区：
文献类型：
--
作者：
O. Altuzarra;Charles Pinto;B. Sandru;A. Hernández
在机构设计和并联机器人的特殊情况下，大多数优化问题涉及同时优化多个目标函数。本文提出了一种识别低自由度并联机器人Pareto最优解的方法。以一个四自由度对称并联机器人为例，进行了Schönflies运动生成的研究。所使用的设计目标是基于分散加权Frobenius范数的工作空间体积和机械手灵活性。此外，已为不同类型的轨迹定义了每周期能量的表达式，以评估功率驱动。最后，在设计参数空间中表示设计参数的Pareto最优解集。
In mechanism design and in the particular case of the parallel manipulator, most optimization problems involve simultaneously optimizing more than one objective function. In this paper, a method to identify Pareto-optimal solutions for the design of low-mobility parallel manipulators is presented. A 4-degree-of-freedom symmetric parallel manipulator for Schönflies-motion generation is taken as a case study. The design goals used are workspace volume and manipulator dexterity based on a dispersion weighted Frobenius norm. In addition, an expression for energy per cycle has been defined for different types of trajectory to evaluate the power drive. Finally, the set of Pareto-optimal solutions of the design parameters are represented in the design parameter space.