Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application
Identifieur interne : 003E81 ( Main/Exploration ); précédent : 003E80; suivant : 003E82Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application
Auteurs : JUNG WON YOON [Corée du Sud] ; Jeha Ryu [Corée du Sud] ; Yoon-Kwon Hwang [Corée du Sud]Source :
- Journal of mechanical science and technology [ 1738-494X ] ; 2010.
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Abstract
This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increased-entropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a pre-existing base model.
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application</title><author><name sortKey="Jung Won Yoon" sort="Jung Won Yoon" uniqKey="Jung Won Yoon" last="Jung Won Yoon">JUNG WON YOON</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University</s1><s2>Jinju</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Jinju</wicri:noRegion></affiliation></author><author><name sortKey="Ryu, Jeha" sort="Ryu, Jeha" uniqKey="Ryu J" first="Jeha" last="Ryu">Jeha Ryu</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Human-Machine-Computer Interface, Department of Mechatronics, Gwangiu Institute of Science and Technology</s1><s2>Gwangju</s2><s3>KOR</s3><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Gwangju</wicri:noRegion></affiliation></author><author><name sortKey="Hwang, Yoon Kwon" sort="Hwang, Yoon Kwon" uniqKey="Hwang Y" first="Yoon-Kwon" last="Hwang">Yoon-Kwon Hwang</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University</s1><s2>Jinju</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Jinju</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">10-0248701</idno><date when="2010">2010</date><idno type="stanalyst">PASCAL 10-0248701 INIST</idno><idno type="RBID">Pascal:10-0248701</idno><idno type="wicri:Area/PascalFrancis/Corpus">000626</idno><idno type="wicri:Area/PascalFrancis/Curation">000D79</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000441</idno><idno type="wicri:doubleKey">1738-494X:2010:Jung Won Yoon:optimum:design:of</idno><idno type="wicri:Area/Main/Merge">003F40</idno><idno type="wicri:Area/Main/Curation">003E81</idno><idno type="wicri:Area/Main/Exploration">003E81</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application</title><author><name sortKey="Jung Won Yoon" sort="Jung Won Yoon" uniqKey="Jung Won Yoon" last="Jung Won Yoon">JUNG WON YOON</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University</s1><s2>Jinju</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Jinju</wicri:noRegion></affiliation></author><author><name sortKey="Ryu, Jeha" sort="Ryu, Jeha" uniqKey="Ryu J" first="Jeha" last="Ryu">Jeha Ryu</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Human-Machine-Computer Interface, Department of Mechatronics, Gwangiu Institute of Science and Technology</s1><s2>Gwangju</s2><s3>KOR</s3><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Gwangju</wicri:noRegion></affiliation></author><author><name sortKey="Hwang, Yoon Kwon" sort="Hwang, Yoon Kwon" uniqKey="Hwang Y" first="Yoon-Kwon" last="Hwang">Yoon-Kwon Hwang</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University</s1><s2>Jinju</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Jinju</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">Journal of mechanical science and technology</title><title level="j" type="abbreviated">J. Mech. Sci. Technol. </title><idno type="ISSN">1738-494X</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Journal of mechanical science and technology</title><title level="j" type="abbreviated">J. Mech. Sci. Technol. </title><idno type="ISSN">1738-494X</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Entropy</term><term>Freedom degree</term><term>Genetic algorithm</term><term>Isotropy</term><term>Jacobi matrix</term><term>Kinematics</term><term>Linkage mechanism</term><term>Optimization</term><term>Parallel mechanism</term><term>Six bar mechanism</term><term>Spherical shape</term><term>System with six degrees of freedom</term><term>Tactile sensitivity</term><term>Workspace</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Mécanisme 6 barres</term><term>Mécanisme articulé</term><term>Mécanisme parallèle</term><term>Domaine travail</term><term>Sensibilité tactile</term><term>Système 6 degrés liberté</term><term>Forme sphérique</term><term>Optimisation</term><term>Isotropie</term><term>Algorithme génétique</term><term>Degré liberté</term><term>Matrice Jacobi</term><term>Entropie</term><term>Cinématique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increased-entropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a pre-existing base model.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country></list><tree><country name="Corée du Sud"><noRegion><name sortKey="Jung Won Yoon" sort="Jung Won Yoon" uniqKey="Jung Won Yoon" last="Jung Won Yoon">JUNG WON YOON</name></noRegion><name sortKey="Hwang, Yoon Kwon" sort="Hwang, Yoon Kwon" uniqKey="Hwang Y" first="Yoon-Kwon" last="Hwang">Yoon-Kwon Hwang</name><name sortKey="Ryu, Jeha" sort="Ryu, Jeha" uniqKey="Ryu J" first="Jeha" last="Ryu">Jeha Ryu</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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