Title :
Kinetostatic optimization of a MEMS-based compliant 3 DOF plane parallel platform
Author :
Belfiore, Nicola Pio ; EmamiMeibodi, Mohammad ; Verotti, Matteo ; Crescenzi, Rocco ; Balucani, Marco ; Nenzi, P.
Abstract :
A new plane parallel micro-manipulator is presented in this paper, together with the numerical procedure that has been used in order to optimize some kinetostatic performance indices, among which the kinematic condition number and the mechanical advantage. The approach is based on a refined simplification of the direct kinematic problem and it is applied to the pseudo-rigid body model of the original compliant mechanism, with an acceptable approximation. The method has been iterated several times to evaluate a fitness function that has been used by an Evolutionary Method of computation for the search of global optimum, namely, a Genetic Algorithm. The results will be used for refining the geometric design of the parallel micro-manipulator, which will be built by means of MEMS-Based technologies in silicon.
Keywords :
approximation theory; genetic algorithms; iterative methods; manipulator kinematics; micromanipulators; numerical analysis; parallel processing; MEMS-based compliant 3 DOF plane parallel platform; acceptable approximation; direct kinematic problem; evolutionary computation method; genetic algorithm; kinematic condition number; kinetostatic optimization; mechanical advantage; numerical procedure; parallel micromanipulator; pseudorigid body model; Ellipsoids; Equations; Genetic algorithms; Kinematics; Mathematical model; Optimization; Vectors;
Conference_Titel :
Computational Cybernetics (ICCC), 2013 IEEE 9th International Conference on
Conference_Location :
Tihany
Print_ISBN :
978-1-4799-0060-2
DOI :
10.1109/ICCCyb.2013.6617600
