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Optimum synthesis of planar parallel manipulators based on kinematic isotropy and force balancing

Journal Article


Abstract


  • This paper deals with an optimum synthesis of planar parallel manipulators using two constrained optimisation procedures based on the minimization of: (i) the overall deviation of the condition number of manipulator Jacobian matrix from the ideal/isotropic condition number, and (ii) bearing forces throughout the manipulator workspace for force balancing. A revolute jointed planar parallel manipulator is used as an example to demonstrate the methodology. The parameters describing the manipulator geometry are obtained from the first optimisation procedure, and subsequently, the mass distribution parameters of the manipulator are determined from the second optimisation procedure based on force balancing. Optimisation results indicate that the proposed optimisation approach is systematic, versatile and easy to implement for the optimum synthesis of the parallel manipulator and other kinematic chains. This work contributes to previously published work from the point of view of being a systematic approach to the optimum synthesis of parallel manipulators, which is currently lacking in the literature.

Publication Date


  • 2004

Citation


  • Alici, G., & Shirinzadeh, B. (2004). Optimum synthesis of planar parallel manipulators based on kinematic isotropy and force balancing. Robotica, 22(1), 97-108. doi:10.1017/S0263574703005216

Scopus Eid


  • 2-s2.0-1242276308

Start Page


  • 97

End Page


  • 108

Volume


  • 22

Issue


  • 1

Abstract


  • This paper deals with an optimum synthesis of planar parallel manipulators using two constrained optimisation procedures based on the minimization of: (i) the overall deviation of the condition number of manipulator Jacobian matrix from the ideal/isotropic condition number, and (ii) bearing forces throughout the manipulator workspace for force balancing. A revolute jointed planar parallel manipulator is used as an example to demonstrate the methodology. The parameters describing the manipulator geometry are obtained from the first optimisation procedure, and subsequently, the mass distribution parameters of the manipulator are determined from the second optimisation procedure based on force balancing. Optimisation results indicate that the proposed optimisation approach is systematic, versatile and easy to implement for the optimum synthesis of the parallel manipulator and other kinematic chains. This work contributes to previously published work from the point of view of being a systematic approach to the optimum synthesis of parallel manipulators, which is currently lacking in the literature.

Publication Date


  • 2004

Citation


  • Alici, G., & Shirinzadeh, B. (2004). Optimum synthesis of planar parallel manipulators based on kinematic isotropy and force balancing. Robotica, 22(1), 97-108. doi:10.1017/S0263574703005216

Scopus Eid


  • 2-s2.0-1242276308

Start Page


  • 97

End Page


  • 108

Volume


  • 22

Issue


  • 1