Optimal Multiple Orientation Synthesis Of A
Planar Parallel Manipulator Performed For
Different Prescribed Output Workspaces
Author(s)
A. M. Hay & J. A. Snyman
Abstract
The optimal multiple orientation synthesis methodology presented in this paper is
aimed at determining designs of a three degrees of freedom (3-dof) planar parallel
manipulator, so that the manipulator reaches, with optimal conditioning, all points
in a prescribed output workspace for multiple specified constant (fixed) orientations
of the manipulator platform. The optimum conditioning with respect to the
manipulator design variables is obtained by minimizing the condition number over
the enclosed prescribed physical workspace for all the different prescribed discrete
fixed orientations. The proposed optimization methodology produces convincing
results, indicating it to be a stable and efficient numerical method for designing
planar parallel manipulators.
Keywords: kinematics, parallel manipulators, workspace, optimal design.
1 Introduction
The optimal multiple orientation synthesis methodology presented here is aimed
at determining designs of a three degree of freedom (3-dof) planar parallel manipulator,
so that the manipulator reaches, with optimal conditioning, all points in a
prescribed output workspace for multiple specified constant (fixed) orientations of
the manipulator platform. In previous work the authors developed a constrained
optimization methodology for the optimal synthesis of 3-dof planar manipulators
for a prescribed output workspace with a single fixed orientation of the platform
specified, and applied the procedure separately to the design for three different prescribed
workspaces [1]. The method was subsequently extended in a white paper
Keywords
kinematics, parallel manipulators, workspace, optimal design.
Related Book
Other papers in this volume
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