Design optimization of parallel manipulators for high-speed precision machining applications

Anatol Pashkevich (1) , Damien Chablat (1) , Philippe Wenger (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the non-homogenous design specification, the developed optimization technique transforms all constraints and objectives into similar performance indices related to the maximum size of the prescribed shape workspace. This transformation is based on the dedicated dynamic programming procedures that satisfy computational requirements of modern CAD. Efficiency of the developed technique is demonstrated via two case studies that deal with optimization of the kinematical and stiffness performances for parallel manipulators of the Orthoglide family.

Mots clés: Orthoglide robot; Computer-aided design; operation research application; multiobjective optimization; parallel robotic manipulators; Orthoglide robot.

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Damien Chablat, Philippe Wenger. Design optimization of parallel manipulators for high-speed precision machining applications. 13th IFAC Symposium on Information Control Problems in Manufacturing, Jun 2009, Moscou, Russia. pp.1-6. ⟨hal-00414240⟩