Optimal Design of Parallel Robots for the Prescribed Regular Dexterous Workspace
This paper presents a method for determining design parameters of parallel robots (PRs)in its optimal kinematic design.To produce a more compact and economical PR,the determination of an optimal workspace is important. This includes defining a workspace that encases the prescribed regular dexterous workspace (PRDW).Two requirements should be simultaneously satisfied:(I )the local or global performance index;(ii )a regular shape.In this paper,the optimal problem is firstly discussed and translated into two linear problems.Then, an optimal design procedure which adopts the generalized pattern search algorithm in the genetic algorithm and direct search toolbox of Matlab is proposed to solve these problems. Taken as an example,a linear Delta robot is designed for the four different PRDWs,and its optimal result provides some useful information in measuring the distance between a PRDW and the maximal sized normalized robot.On the basis of the value of distance,some wrong solutions of PR are clarified.It is concluded that the optimal design method is useful for the design and comparison of a general PR.
Parallel Robot Prescribed Regular Dexterous Workspace Optimal Design Generalized Pattern Search
Zhongfei Wang Shiming Ji Yuehua Wan Changjin Ou Jianhui Sun Guan Wang
The MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of Technology Hangzhou, Zhejiang Province 310014, China
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）