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| HAL : hal-00414240, version 1 |
| arXiv : 0909.1475 |
| Fiche détaillée |  Récupérer au format |
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| 13th IFAC Symposium on Information Control Problems in Manufacturing, Moscou : Russian Federation (2009) |
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| Design optimization of parallel manipulators for high-speed precision machining applications |
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| Anatoly Pashkevich 1Damien Chablat 1 |
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| (03/06/2009) |
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| 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. |
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| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Domaine | : | Informatique/Robotique |
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| Computer-aided design – operation research application – multiobjective optimization – parallel robotic manipulators – Orthoglide robot. |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00414240, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00414240 | |
| oai:hal.archives-ouvertes.fr:hal-00414240 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mardi 8 Septembre 2009, 14:20:00 | |
| Dernière modification le : Mardi 8 Septembre 2009, 14:39:18 | |
