6533b7ddfe1ef96bd12751da

RESEARCH PRODUCT

Multi-Objective Design of Optimisation of a Class of PKMs - The 3-DOF Gantry-Tau

Geir HovlandIlya Tyapin

subject

EngineeringMathematical optimizationbusiness.industryFrame (networking)StiffnessWorkspaceKinematicslaw.inventionComputer Science::RoboticslawControl theorySearch algorithmmedicineRobotCartesian coordinate systemmedicine.symptombusinessActuatorComputingMethodologies_COMPUTERGRAPHICS

description

The main contribution of this paper is the use of the evolutionary multi-objective methodology based on the com plex search algorithm and geometric approaches to optimise a parallel kinematic structure. The design optimisation scheme includes the kinematic (collisions free workspace), elastostatic (Cartesian stiffness in the Y direction) and elastodynamic (first resonance frequency) properties of the PKM as the objectives. The optimisation constraints are the support frame lengths, actuator positions, end-effector’s kinematic parameters and the robot’s arm lengths. The optimisation results are presented in this paper.

yearjournalcountryeditionlanguage
2010-01-01Modelling, Identification, and Control
https://doi.org/10.2316/p.2010.675-029