Dimensional design of hexaslides for optimal workspace and dexterity

Author

Rao, A. B Koteswara ; Rao, P.V.M. ; Saha, S.K.

Author_Institution

Mech. Eng. Dept., Gayatri Vidya Parishad Coll. of Eng., Visakhapatnam, India

Volume

21

Issue

3

fYear

2005

fDate

6/1/2005 12:00:00 AM

Firstpage

444

Lastpage

449

Abstract

The paper presents the dimensional design of a class of parallel manipulators, namely, Hexaslides. The design of hexaslides is formulated as a multiobjective optimization problem considering workspace and dexterity as dual objectives. As the relative emphasis on workspace and dexterity varies depending on the application, a set of Pareto-optimal solutions is found. The present analysis is a useful tool for designers to select suitable hexaslide parameters for a given application, particularly, in machine tool applications.

Keywords

Pareto optimisation; manipulators; Pareto-optimal solutions; hexaslides dimensional design; machine tool applications; multiobjective optimization problem; optimal dexterity; optimal workspace; parallel manipulators; Coordinate measuring machines; Design optimization; Jacobian matrices; Leg; Machine tools; Machining; Mechanical engineering; Rails; Railway engineering; Robot kinematics; Dexterity; dimensional design; hexaslide; multi-objective optimization; workspace;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2004.842353

Filename

1435488