Optimization of a three DOF translational platform for well-conditioned workspace

Author

Stamper, Richard E. ; Tsai, Lung-wen ; Walsh, Gregory C.

Author_Institution

Dept. of Mech. Eng., Maryland Univ., College Park, MD, USA

Volume

4

fYear

1997

fDate

20-25 Apr 1997

Firstpage

3250

Abstract

Two optimization studies on the design of a three degree of freedom translational parallel platform are conducted and the results are compared. The objective function of the first study maximizes total volume of the manipulator workspace without regard to the quality of the workspace. The second study optimizes the total volume of well conditioned workspace by maximizing a global condition index. The global condition index is a function of the condition number of the Jacobian matrix, providing a means of measuring the amplification error between the actuators and the end effector. Both objective functions involve an integration over the workspace of the manipulator. This integral is approximated using the Monte Carlo method

Keywords

Jacobian matrices; Monte Carlo methods; manipulator kinematics; optimisation; 3-DOF translational platform; Jacobian matrix; Monte Carlo method; actuators; amplification error; design optimization; end effector; global condition index; manipulator workspace total volume maximization; translational parallel platform; well-conditioned workspace; Actuators; Design optimization; Educational institutions; End effectors; Jacobian matrices; Kinematics; Mechanical engineering; Metalworking machines; Research and development; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.606784

Filename

606784