Title :
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
fDate :
6/1/2005 12:00:00 AM
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;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2004.842353
