The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace
The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace
复制标题
DOI：
10.1109/robot.2007.363781
复制
发表时间：
2007-04
期刊：
影响因子：
--
通讯作者：
Yoonkwon Hwang;Jungwon Yoon;J. Ryu
中科院分区：
文献类型：
--
作者：
Yoonkwon Hwang;Jungwon Yoon;J. Ryu
本研究的目的是在机构紧凑性的基础上，优化六自由度并联机械臂的设计参数，该机械臂需要大工作空间来完成复杂的工作。该方法使用关于平移/旋转工作空间最大化和机构各向同性的遗传算法来获得最优联动参数。研究了十五种情况，根据末端执行器的平移运动范围和倾斜角度，将其划分为平移和旋转工作空间的组合。为了确定总优化情况下的最佳模型，以机构的紧凑性、平移工作空间、平移工作空间边界上的旋转工作空间和全局调节指数（GCI）作为运动学性能，然后通过与现有模型的运动学性能进行比较来验证最佳模型的运动学性能
An objective of this research is to optimize the designing parameters of a 6-DOF parallel manipulator required the large workspace for the sophisticated and complicated work on the basis of mechanism's compactness. The method uses a genetic algorithm with respect to the maximization of tranlational/rotational workspaces and isotropy of mechanism to obtain the optimal linkage parameters. It is studied for fifteen cases which are divided by combination of translational and rotational workspaces corresponding to the range of translational motion and tilt angle of the end-effector. To decide the best model in the total optimized cases, compactness of mechanism, translational workspace, rotational workspace on the boundary of translational workspace, and global conditioning index (GCI) as kinematic performances, and then kinematic performances of best model are verified by comparing to those of the preexisting model