Optimal kinematic design of spatial parallel manipulators: Application to Linear Delta robot
Optimal kinematic design of spatial parallel manipulators: Application to Linear Delta robot
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DOI：
10.1115/1.1563632
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发表时间：
2003-06
影响因子：
3.3
通讯作者：
M. Stock;K. Miller
中科院分区：
文献类型：
--
作者：
M. Stock;K. Miller
提出了一种适用于并联机器人的运动学优化设计方法。运动学优化过程产生了一个在可操作性和新的性能指标--空间利用率之间提供最佳折衷的设计。结果表明，穷举搜索最小化算法对多达4个独立的设计变量都是有效的，是一种替代先进的非线性规划方法的可行方法。将所提出的运动学优化方法应用于三自由度平移机械手--Line Delta。用多项式方法求解了线性Delta机器人的运动学问题。考察了机器人的机动性、工作空间和可操作性。结果表明，与空间利用率相比，线性增量的可操作性变化相对较小。当操纵性单独优化时，存在解决方案收敛于零工作空间大小体系结构的趋势。在成本函数中包含空间利用指数对于获得符合实际的设计候选方案至关重要。
An optimal kinematic design method suited for parallel manipulators is developed. The kinematic optimization process yields a design that delivers the best compromise between manipulability and a new performance index, space utilisation. It is shown that the exhaustive search minimization algorithm is effective for as many as four independent design variables and presents a viable alternative to advanced nonlinear programming methods. The proposed kinematic optimization method is applied to the Linear Delta: a three degree of freedom translational manipulator. The kinematics of the Linear Delta are solved via the polynomial method. The mobility, workspace and manipulability characteristics are examined. It is shown that the Linear Delta's manipulability generally exhibits relatively little variation when compared to space utilization. The tendency exists for the solution to converge on a zero workspace size architecture when manipulability is optimized alone. The inclusion of the space utilization index in the cost function is crucial for obtaining realistic design candidates.