Parameter optimum design of spherical 2-DOF parallel manipulator with actuation redundancy

Author

Zhang, Li-Jie ; Li, Yong-Quan ; Shi, Wen-Ya

Author_Institution

Hebei Key Lab. of Heavy Machinery Fluid Power Transm. & Control, Yanshan Univ., Huangdao, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

1499

Lastpage

1504

Abstract

The research subject of this paper is spherical 2-DOF Parallel manipulator with actuation redundancy, mechanical dimension optimum design method of the manipulator has been presented, which considered both global performance index and local performance index, we can obtain relative synthetically optimization mechanical dimension by the method. We finished the optimum program by virtue of software VB and Matlab, and realized dimension optimum design of spherical 2-DOF parallel manipulator with actuation redundancy considered different performance index on different application occasion.

Keywords

mathematics computing; optimal control; performance index; redundant manipulators; Matlab software; VB software; actuation redundancy; global performance index; local performance index; mechanical dimension design method; optimum design method; spherical 2-DOF parallel manipulator; Control systems; Linear matrix inequalities; Lyapunov method; Mechatronics; Nonlinear control systems; Performance analysis; Robust control; Time varying systems; Uncertainty; Vectors; 2-DOF; actuation redundancy; optimum design; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246752

Filename

5246752