Hostname: page-component-8448b6f56d-mp689 Total loading time: 0 Render date: 2024-04-17T18:11:29.093Z Has data issue: false hasContentIssue false
  • English
  • Français

Optimal design of a class of generalized symmetric Gough–Stewart parallel manipulators with dynamic isotropy and singularity-free workspace

Published online by Cambridge University Press:  23 June 2011

Zhizhong Tong ,
Jingfeng He ,
Hongzhou Jiang  and
Guangren Duan
Zhizhong Tong*
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P. R. China
Jingfeng He
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P. R. China
Hongzhou Jiang
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P. R. China
Guangren Duan
Affiliation:
School of Astronautics, Harbin Institute of Technology, Harbin 150001, P. R. China
*
*Corresponding author. E-mail: tongzhizhong@yahoo.com.cn
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, the definition of generalized symmetric Gough–Stewart parallel manipulators is presented. The concept of dynamic isotropy is proposed and the singular values of the bandwidth matrix are introduced to evaluate dynamic isotropy and solved analytically. Considering the payload's mass-geometry characteristics, the formulations for completely dynamic isotropy are derived in close form. It is proven that a generalized symmetric Gough–Stewart parallel manipulator is easer to achieve dynamic isotropy and applicable in engineering applications. An optimization procedure based on particle swarm optimization is proposed to obtain better dexterity and large singularity-free workspace, which guarantees the optimal solution and gives mechanically feasible realization.

Keywords

Parallel manipulatorsGeneralized symmetric Gough–StewartDynamic isotropyOptimal designPSO
Type
Articles
Information
Robotica , Volume 30 , Issue 2 , March 2012 , pp. 305 - 314
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Merlet, J. P., Parallel Robots (Kluwer Academic Publishers, Netherlands, 2000).CrossRefGoogle Scholar
2.Tsai, K. Y. and Lee, T. K. K., “6-DOF parallel manipulators with better dexterity, rotatability, or singularity-free workspace,” Robotica 27, 599–606 (2009).CrossRefGoogle Scholar
3.Fattah, A. and Ghasemi, A. M. H., “Isotropic design of spatial parallel manipulators,” Int. J. Rob. Res. 21, 811–824 (2002).CrossRefGoogle Scholar
4.Su, Y. X., Duan, B.Y. and Zheng, C. H., “Genetic design of kinematically optimal fine tuning Stewart platform for large spherical radio telescope,” Mechatronics 11, 821–835 (2001).CrossRefGoogle Scholar
5.Bandyopadhyay, S. and Ghosal, A., “An algebraic formulation of kinematic isotropy and design of isotropic 6–6 Stewart platform manipulators,” Mech. Mach. Theory 43, 591–616 (2008).CrossRefGoogle Scholar
6.Bandyopadhyay, S. and Ghosal, A., “An algebraic formulation of static isotropy and design of statically isotropic 6–6 Stewart platform manipulators,” Mech. Mach. Theory 44, 1360–1370 (2009).CrossRefGoogle Scholar
7.McInroy, J. E. and Hamann, J., “Design and control of flexure jointed hexapods,” IEEE Trans. Rob. Automat. 16 (4), 372–381 (2000).CrossRefGoogle Scholar
8.Jafari, F. and McInroy, J. E., “Orthogonal Gough-Stewart platforms for micromanipulation,” IEEE Trans. Rob. Automat. 19 (4), 595–603 (2003).CrossRefGoogle Scholar
9.Yi, Y., McInroy, J. E. and Jafari, F., “Optimum Design of a Class of Fault-Tolerant Isotropic Gough–Stewart Platforms,” Proceeding of the IEEE International Conference on Robotics and Automation, New Orleans, LA (Apr. 2004) Vol. 5, pp. 4963–4968.Google Scholar
10.Yi, Y., McInroy, J. E. and Jafari, F., “Generating Classes of Orthogonal Gough–Stewart Platforms,” Proceeding of the IEEE International Conference on Robotics and Automation, New Orleans, LA (Apr. 2004) Vol. 5, pp. 4969–4974.Google Scholar
11.Yi, Y., McInroy, J. E. and Jafari, F., “Generating classes of locally orthogonal Gough–Stewart platforms,” IEEE Trans. Rob. Automat. 21 (5), 812–820 (2005).Google Scholar
12.Tsai, K.Y. and Huang, K. D., “The design of isotropic 6-DOF parallel manipulators using isotropy generators,” Mech. Mach. Theory 38 (11), 1199–1214 (2003).CrossRefGoogle Scholar
13.Tsai, K. Y. and Wang, Z. W., “The design of redundant isotropic manipulators with special parameters,” Robotica 23, 231–237 (2005).CrossRefGoogle Scholar
14.Tsai, K. Y. and Lee, T. K., “6-DOF Isotropic Parallel Manipulator with Three PPSR or PRPS Chains,” Proceedings of the 12th IFToMM Conference, Besancon, France (Jun. 2007) pp. 18–21.Google Scholar
15.Tsai, K. Y. and Zhou, S. R., “The optimum design of 6-DOF isotropic parallel manipulators,” J. Rob. Syst. 22 (6), 333–340 (2005).CrossRefGoogle Scholar
16.Zanganeh, K. E. and Angeles, J., “Kinematic isotropy and the optimum design of parallel manipulators,” Int. J. Rob. Res. 16 (2), 185–197 (1997).CrossRefGoogle Scholar
17.Angeles, J., “Is there a characteristic length of a rigid-body displacement?” Mech. Mach. Theory 41, 884–896 (2006).CrossRefGoogle Scholar
18.Hong-Zhou, J., Jing-Feng, H. E., Zhi-Zhong, T., “Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator,” Mech. Mach. Theory 45 (5), 722–739 (2010).Google Scholar
19.Chen, Y. and McInroy, J. E., “Decoupled control of flexure-jointed hexapods using estimated joint-space mass-inertia matrix,” IEEE Trans. Contr. Syst. Technol. 12 (3), 413–421 (2004).CrossRefGoogle Scholar
20.Bhattacharya, S., Hatwal, H. and Ghosh, A., “On the optimum design of a Stewart platform type parallel manipulators,” Robotica 13 (2)133–140 (1995).CrossRefGoogle Scholar
21.Kennedy, J. and Eberhart, R. C., “Particle Swarm Optimization,” Proceedings of the IEEE International Conference on Neural Networks, Perth, Australia (1995) pp. 1942–1948.Google Scholar
22.Xu, Q., Li, Y., “Error analysis and optimal design of a class of translational parallel kinematic machine using particle swarm optimization,” Robotica 27, 67–78 (2009).CrossRefGoogle Scholar
23.Koekebakker, S. H., Model Based Control of a Flight Simulator Motion System Ph.D. Thesis (Delft, Netherlands: Delft University of Technology, 2001).Google Scholar