The multiobjective optimization of a four-degree-of-freedom symmetric parallel manipulator for Schönflies-motion generation is the subject of this paper. First, the inverse positioning problem is discussed, along with its velocity analysis. The workspace is then analyzed, thereby deriving a closed-form expression of the workspace volume, which depends on the orientation of the moving platform. Next, the isotropic design of the manipulator is obtained. Then, the dexterity analysis of the manipulator is conducted, which is one objective of the optimum design of the manipulator, a second objective being a normalized workspace volume. Finally, the results of the optimization process are reported in terms of a set of Pareto-optimum pairs of the design parameters.
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March 2009
Research Papers
Multiobjective Optimum Design of a Symmetric Parallel Schönflies-Motion Generator
O. Altuzarra,
O. Altuzarra
Department of Mechanical Engineering,
University of the Basque Country
, Alameda de Urquijo s/n, Bilbao 48013, Spain
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A. Hernandez,
A. Hernandez
Department of Mechanical Engineering,
University of the Basque Country
, Alameda de Urquijo s/n, Bilbao 48013, Spain
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O. Salgado,
O. Salgado
Ikerlan S. Coop.
, Paseo Jose Maria Arizmendiarrieta 2, Arrasate 20500, Spain
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J. Angeles
J. Angeles
Department of Mechanical Engineering,
Centre of Intelligent Machines
, 817 Sherbrooke Street West, Montreal, QC, H3A 2K6, Canada
Search for other works by this author on:
O. Altuzarra
Department of Mechanical Engineering,
University of the Basque Country
, Alameda de Urquijo s/n, Bilbao 48013, Spain
A. Hernandez
Department of Mechanical Engineering,
University of the Basque Country
, Alameda de Urquijo s/n, Bilbao 48013, Spain
O. Salgado
Ikerlan S. Coop.
, Paseo Jose Maria Arizmendiarrieta 2, Arrasate 20500, Spain
J. Angeles
Department of Mechanical Engineering,
Centre of Intelligent Machines
, 817 Sherbrooke Street West, Montreal, QC, H3A 2K6, CanadaJ. Mech. Des. Mar 2009, 131(3): 031002 (11 pages)
Published Online: January 26, 2009
Article history
Received:
January 31, 2008
Revised:
November 25, 2008
Published:
January 26, 2009
Citation
Altuzarra, O., Hernandez, A., Salgado, O., and Angeles, J. (January 26, 2009). "Multiobjective Optimum Design of a Symmetric Parallel Schönflies-Motion Generator." ASME. J. Mech. Des. March 2009; 131(3): 031002. https://doi.org/10.1115/1.3066659
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