HapticV1, PascalFrancis, Corpus, bibRecord, 000626

Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

Identifieur interne : 000626 ( PascalFrancis/Corpus ); précédent : 000625; suivant : 000627

Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

Auteurs : JUNG WON YOON ; Jeha Ryu ; Yoon-Kwon Hwang

Source :

Journal of mechanical science and technology [ 1738-494X ] ; 2010.

RBID : Pascal:10-0248701

Descripteurs français

Pascal (Inist)
- Mécanisme 6 barres, Mécanisme articulé, Mécanisme parallèle, Domaine travail, Sensibilité tactile, Système 6 degrés liberté, Forme sphérique, Optimisation, Isotropie, Algorithme génétique, Degré liberté, Matrice Jacobi, Entropie, Cinématique.

English descriptors

KwdEn :
- Entropy, Freedom degree, Genetic algorithm, Isotropy, Jacobi matrix, Kinematics, Linkage mechanism, Optimization, Parallel mechanism, Six bar mechanism, Spherical shape, System with six degrees of freedom, Tactile sensitivity, Workspace.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`01`	`1`		`@1 JUNG WON YOON`
A11	`02`	`1`		`@1 RYU (Jeha)`
A11	`03`	`1`		`@1 HWANG (Yoon-Kwon)`
A14	`01`			`@1 School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University @2 Jinju @3 KOR @Z 1 aut. @Z 3 aut.`
A14	`02`			`@1 Human-Machine-Computer Interface, Department of Mechatronics, Gwangiu Institute of Science and Technology @2 Gwangju @3 KOR @Z 2 aut.`
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A44				`@0 0000 @1 © 2010 INIST-CNRS. All rights reserved.`
A45				`@0 21 ref.`
A47	`01`	`1`		`@0 10-0248701`
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A64	`01`	`1`		`@0 Journal of mechanical science and technology`
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C01	`01`		`ENG`	@0 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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C03	`01`	`X`	`ENG`	`@0 Six bar mechanism @5 06`
C03	`01`	`X`	`SPA`	`@0 Mecanismo 6 barras @5 06`
C03	`02`	`X`	`FRE`	`@0 Mécanisme articulé @5 07`
C03	`02`	`X`	`ENG`	`@0 Linkage mechanism @5 07`
C03	`02`	`X`	`SPA`	`@0 Mecanismo articulado @5 07`
C03	`03`	`X`	`FRE`	`@0 Mécanisme parallèle @5 08`
C03	`03`	`X`	`ENG`	`@0 Parallel mechanism @5 08`
C03	`03`	`X`	`SPA`	`@0 Mecanismo paralelo @5 08`
C03	`04`	`X`	`FRE`	`@0 Domaine travail @5 09`
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C03	`04`	`X`	`SPA`	`@0 Dominio trabajo @5 09`
C03	`05`	`X`	`FRE`	`@0 Sensibilité tactile @5 10`
C03	`05`	`X`	`ENG`	`@0 Tactile sensitivity @5 10`
C03	`05`	`X`	`SPA`	`@0 Sensibilidad tactil @5 10`
C03	`06`	`X`	`FRE`	`@0 Système 6 degrés liberté @5 20`
C03	`06`	`X`	`ENG`	`@0 System with six degrees of freedom @5 20`
C03	`06`	`X`	`SPA`	`@0 Sistema 6 rados libertades @5 20`
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C03	`07`	`X`	`ENG`	`@0 Spherical shape @5 21`
C03	`07`	`X`	`SPA`	`@0 Forma esférica @5 21`
C03	`08`	`X`	`FRE`	`@0 Optimisation @5 27`
C03	`08`	`X`	`ENG`	`@0 Optimization @5 27`
C03	`08`	`X`	`SPA`	`@0 Optimización @5 27`
C03	`09`	`X`	`FRE`	`@0 Isotropie @5 28`
C03	`09`	`X`	`ENG`	`@0 Isotropy @5 28`
C03	`09`	`X`	`SPA`	`@0 Isotropía @5 28`
C03	`10`	`X`	`FRE`	`@0 Algorithme génétique @5 29`
C03	`10`	`X`	`ENG`	`@0 Genetic algorithm @5 29`
C03	`10`	`X`	`SPA`	`@0 Algoritmo genético @5 29`
C03	`11`	`X`	`FRE`	`@0 Degré liberté @5 30`
C03	`11`	`X`	`ENG`	`@0 Freedom degree @5 30`
C03	`11`	`X`	`SPA`	`@0 Grado libertad @5 30`
C03	`12`	`X`	`FRE`	`@0 Matrice Jacobi @5 31`
C03	`12`	`X`	`ENG`	`@0 Jacobi matrix @5 31`
C03	`12`	`X`	`SPA`	`@0 Matriz Jacobi @5 31`
C03	`13`	`X`	`FRE`	`@0 Entropie @5 32`
C03	`13`	`X`	`ENG`	`@0 Entropy @5 32`
C03	`13`	`X`	`SPA`	`@0 Entropía @5 32`
C03	`14`	`X`	`FRE`	`@0 Cinématique @5 41`
C03	`14`	`X`	`ENG`	`@0 Kinematics @5 41`
C03	`14`	`X`	`SPA`	`@0 Cinemática @5 41`
N21				`@1 165`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 10-0248701 INIST
ET :	Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application
AU :	JUNG WON YOON; RYU (Jeha); HWANG (Yoon-Kwon)
AF :	School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University/Jinju/Corée, République de (1 aut., 3 aut.); Human-Machine-Computer Interface, Department of Mechatronics, Gwangiu Institute of Science and Technology/Gwangju/Corée, République de (2 aut.)
DT :	Publication en série; Niveau analytique
SO :	Journal of mechanical science and technology; ISSN 1738-494X; Corée, République de; Da. 2010; Vol. 24; No. 5; Pp. 1151-1162; Bibl. 21 ref.
LA :	Anglais
EA :	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.
CC :	001D12E06; 001B40F10
FD :	Mécanisme 6 barres; Mécanisme articulé; Mécanisme parallèle; Domaine travail; Sensibilité tactile; Système 6 degrés liberté; Forme sphérique; Optimisation; Isotropie; Algorithme génétique; Degré liberté; Matrice Jacobi; Entropie; Cinématique
ED :	Six bar mechanism; Linkage mechanism; Parallel mechanism; Workspace; Tactile sensitivity; System with six degrees of freedom; Spherical shape; Optimization; Isotropy; Genetic algorithm; Freedom degree; Jacobi matrix; Entropy; Kinematics
SD :	Mecanismo 6 barras; Mecanismo articulado; Mecanismo paralelo; Dominio trabajo; Sensibilidad tactil; Sistema 6 rados libertades; Forma esférica; Optimización; Isotropía; Algoritmo genético; Grado libertad; Matriz Jacobi; Entropía; Cinemática
LO :	INIST-27006.354000182102530180
ID :	10-0248701

Links to Exploration step

Pascal:10-0248701

Le document en format XML

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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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<fC01 i1="01" l="ENG"><s0>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.</s0>
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<s5>09</s5>
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<fC03 i1="04" i2="X" l="SPA"><s0>Dominio trabajo</s0>
<s5>09</s5>
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<fC03 i1="05" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>10</s5>
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<s5>10</s5>
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<fC03 i1="05" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>10</s5>
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<s5>30</s5>
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<fC03 i1="12" i2="X" l="FRE"><s0>Matrice Jacobi</s0>
<s5>31</s5>
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<fC03 i1="12" i2="X" l="ENG"><s0>Jacobi matrix</s0>
<s5>31</s5>
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<server><NO>PASCAL 10-0248701 INIST</NO>
<ET>Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application</ET>
<AU>JUNG WON YOON; RYU (Jeha); HWANG (Yoon-Kwon)</AU>
<AF>School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University/Jinju/Corée, République de (1 aut., 3 aut.); Human-Machine-Computer Interface, Department of Mechatronics, Gwangiu Institute of Science and Technology/Gwangju/Corée, République de (2 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Journal of mechanical science and technology; ISSN 1738-494X; Corée, République de; Da. 2010; Vol. 24; No. 5; Pp. 1151-1162; Bibl. 21 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D12E06; 001B40F10</CC>
<FD>Mécanisme 6 barres; Mécanisme articulé; Mécanisme parallèle; Domaine travail; Sensibilité tactile; Système 6 degrés liberté; Forme sphérique; Optimisation; Isotropie; Algorithme génétique; Degré liberté; Matrice Jacobi; Entropie; Cinématique</FD>
<ED>Six bar mechanism; Linkage mechanism; Parallel mechanism; Workspace; Tactile sensitivity; System with six degrees of freedom; Spherical shape; Optimization; Isotropy; Genetic algorithm; Freedom degree; Jacobi matrix; Entropy; Kinematics</ED>
<SD>Mecanismo 6 barras; Mecanismo articulado; Mecanismo paralelo; Dominio trabajo; Sensibilidad tactil; Sistema 6 rados libertades; Forma esférica; Optimización; Isotropía; Algoritmo genético; Grado libertad; Matriz Jacobi; Entropía; Cinemática</SD>
<LO>INIST-27006.354000182102530180</LO>
<ID>10-0248701</ID>
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Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

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