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arXiv : 1012.2787

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34th Annual Mechanisms and Robotics Conference (MR), Montréal : Canada (2010)

Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach

Damien Chablat 1, Stéphane Caro 1, Raza Ur-Rehman 1, Philippe Wenger 1

(15/08/2010)

This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular workspace size, i.e., the objective functions. The optimization problem is subject to constraints on the manipulator dexterity and stiffness. For a given external wrench, the displacements of the moving platform have to be smaller than given values throughout the obtained maximum regular dexterous workspace. The contributions of the paper are highlighted with the study of 3-RPR, 3-RPR and 3-RPR planar parallel manipulator architectures, which are compared by means of their Pareto frontiers obtained with a genetic algorithm.

1 :	Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN)
	CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes

Équipe de recherche : Méthodes de conception en mécanique

Domaine

:

Informatique/Robotique

Mots Clés : Parallel mechanisms – Optimal design – stiffness matrix – Pareto front

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Contributeur : Damien Chablat <>

Soumis le : Lundi 13 Décembre 2010, 15:23:20

Dernière modification le : Lundi 13 Décembre 2010, 17:08:39