Synthesis of Planar Parallel Mechanisms While Considering Workspace, Dexterity, Stiffness and Singularity Avoidance
It is a generally well-known fact that the design of parallel mechanisms while optimizing performance is quite difficult. In this paper, a reliable synthesis method capable of optimally selecting the geometrical parameters of planar parallel mechanisms is presented. Three different architectures are...
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| Veröffentlicht in: | Journal of mechanical design (1990) 2006-01, Vol.128 (1), p.69-78 |
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| container_title | Journal of mechanical design (1990) |
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| creator | Arsenault, Marc Boudreau, Roger |
| description | It is a generally well-known fact that the design of parallel mechanisms while optimizing performance is quite difficult. In this paper, a reliable synthesis method capable of optimally selecting the geometrical parameters of planar parallel mechanisms is presented. Three different architectures are considered and a genetic algorithm is used to perform the optimization. The performance of each mechanism is evaluated according to four different criteria: workspace, singular configurations, dexterity, and stiffness. In order to make the synthesis method as realistic as possible, mechanical constraints affecting the angular rotation of the 2-RP̱R and 3-RP̱R mechanisms’ passive revolute joints are considered. Moreover, since the conventional methods for computing the dexterity and the stiffness index are not valid for the 3-RP̱R and 3-ṞRR mechanisms, an alternative computation method is used. |
| doi_str_mv | 10.1115/1.2121747 |
| format | Article |
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In this paper, a reliable synthesis method capable of optimally selecting the geometrical parameters of planar parallel mechanisms is presented. Three different architectures are considered and a genetic algorithm is used to perform the optimization. The performance of each mechanism is evaluated according to four different criteria: workspace, singular configurations, dexterity, and stiffness. In order to make the synthesis method as realistic as possible, mechanical constraints affecting the angular rotation of the 2-RP̱R and 3-RP̱R mechanisms’ passive revolute joints are considered. Moreover, since the conventional methods for computing the dexterity and the stiffness index are not valid for the 3-RP̱R and 3-ṞRR mechanisms, an alternative computation method is used.</description><identifier>ISSN: 1050-0472</identifier><identifier>EISSN: 1528-9001</identifier><identifier>DOI: 10.1115/1.2121747</identifier><language>eng</language><publisher>New York, NY: ASME</publisher><subject>Applied sciences ; Drives ; Exact sciences and technology ; Linkage mechanisms, cams ; Mechanical engineering. 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Mech. Des</addtitle><description>It is a generally well-known fact that the design of parallel mechanisms while optimizing performance is quite difficult. In this paper, a reliable synthesis method capable of optimally selecting the geometrical parameters of planar parallel mechanisms is presented. Three different architectures are considered and a genetic algorithm is used to perform the optimization. The performance of each mechanism is evaluated according to four different criteria: workspace, singular configurations, dexterity, and stiffness. In order to make the synthesis method as realistic as possible, mechanical constraints affecting the angular rotation of the 2-RP̱R and 3-RP̱R mechanisms’ passive revolute joints are considered. Moreover, since the conventional methods for computing the dexterity and the stiffness index are not valid for the 3-RP̱R and 3-ṞRR mechanisms, an alternative computation method is used.</description><subject>Applied sciences</subject><subject>Drives</subject><subject>Exact sciences and technology</subject><subject>Linkage mechanisms, cams</subject><subject>Mechanical engineering. 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Machine design</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Arsenault, Marc</creatorcontrib><creatorcontrib>Boudreau, Roger</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Civil Engineering Abstracts</collection><jtitle>Journal of mechanical design (1990)</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Arsenault, Marc</au><au>Boudreau, Roger</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Synthesis of Planar Parallel Mechanisms While Considering Workspace, Dexterity, Stiffness and Singularity Avoidance</atitle><jtitle>Journal of mechanical design (1990)</jtitle><stitle>J. Mech. 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Moreover, since the conventional methods for computing the dexterity and the stiffness index are not valid for the 3-RP̱R and 3-ṞRR mechanisms, an alternative computation method is used.</abstract><cop>New York, NY</cop><pub>ASME</pub><doi>10.1115/1.2121747</doi><tpages>10</tpages></addata></record> |
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| ispartof | Journal of mechanical design (1990), 2006-01, Vol.128 (1), p.69-78 |
| issn | 1050-0472 1528-9001 |
| language | eng |
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| source | ASME Transactions Journals (Current) |
| subjects | Applied sciences Drives Exact sciences and technology Linkage mechanisms, cams Mechanical engineering. Machine design |
| title | Synthesis of Planar Parallel Mechanisms While Considering Workspace, Dexterity, Stiffness and Singularity Avoidance |
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