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.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
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.
Affiliations:
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Le document en format XML
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<series><title level="j" type="main">Journal of mechanical science and technology</title>
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<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>
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<term>System with six degrees of freedom</term>
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<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>
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<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>
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<name sortKey="Hwang, Yoon Kwon" sort="Hwang, Yoon Kwon" uniqKey="Hwang Y" first="Yoon-Kwon" last="Hwang">Yoon-Kwon Hwang</name>
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