The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace

Author

Hwang, Yoon-Kwon ; Yoon, Jung-Won ; Christiand ; Ryu, Je-Ha

Author_Institution

Tech. Res. Inst., Hyundai Mobis Co., Yongin

fYear

2007

fDate

10-14 April 2007

Firstpage

163

Lastpage

168

Abstract

An objective of this research is to optimize the designing parameters of a 6-DOF parallel manipulator required the large workspace for the sophisticated and complicated work on the basis of mechanism´s compactness. The method uses a genetic algorithm with respect to the maximization of tranlational/rotational workspaces and isotropy of mechanism to obtain the optimal linkage parameters. It is studied for fifteen cases which are divided by combination of translational and rotational workspaces corresponding to the range of translational motion and tilt angle of the end-effector. To decide the best model in the total optimized cases, compactness of mechanism, translational workspace, rotational workspace on the boundary of translational workspace, and global conditioning index (GCI) as kinematic performances, and then kinematic performances of best model are verified by comparing to those of the preexisting model

Keywords

end effectors; genetic algorithms; manipulator kinematics; end effector; genetic algorithm; global conditioning index; kinematic performance; optimal linkage parameter; optimum design; orientation workspace; parallel manipulator; rotational workspace; tranlational workspace; Actuators; Aerospace engineering; Couplings; Design methodology; Design optimization; Genetic algorithms; Haptic interfaces; Kinematics; Manipulators; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.363781

Filename

4209086