Dimensional Synthesis and Performance Evaluation of Four Translational Parallel Manipulators

被引：13
|
作者：
Ben Hamida, I. [1 ,2 ]
Laribi, M. A. [1 ]
Mlika, A. [2 ]
Romdhane, L. [2 ,3 ]
Zeghloul, S. [1 ]
机构：
[1] Univ Poitiers, Dept GMSC, Pprime Inst, CNRS,ENSMA,UPR 3346, Poitiers, France
[2] Univ Sousse, Mech Lab Sousse, Natl Engn Sch Sousse, Sousse, Tunisia
[3] Amer Univ Sharjah, Dept Mech Engn, POB 26666, Sharjah, U Arab Emirates
来源：
ROBOTICA | 2021年 / 39卷 / 02期
关键词：
Dimensional synthesis; Compactness; Dexterity; Genetic algorithm; SINGULARITY ANALYSIS; OPTIMIZATION; DESIGN; ROBOT; KINEMATICS;
D O I：
10.1017/S026357472000034X
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The optimum selection of a structure for a given application is a capital phase in typological synthesis of parallel robots. To help in this selection, this paper presents a performance evaluation of four translational parallel robots: Delta, 3-UPU, Romdhane-Affi-Fayet, and Tri-pyramid (TP). The problem is set as a multiobjective optimization using genetic algorithm methods, which uses kinematic criteria, that is, global dexterity and compactness, to ensure a prescribed workspace. The results are presented as Pareto fronts, which are used to compare the performances of the aforementioned structures. The obtained results show that the TP robot has the best kinematic performance, whereas the 3-UPU robot is the most compact for a given prescribed workspace.
引用
收藏
页码：233 / 249
页数：17
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