Multiobjective Path Placement Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Mechanism and Machine Theory Année : 2010

Multiobjective Path Placement Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide

Résumé

This paper deals with the multi-objective path placement optimization for Parallel Kinematics Machines (PKMs) based on energy consumption, actuators torques and shaking forces. It aims at determining the optimal location of a given test path within the workspace of a PKM in order to minimize the electric energy used by the actuators, their maximal torque and the shaking forces subject to the kinematic, dynamic and geometric constraints. The proposed methodology is applied to the Orthoglide, a three-degree-of-freedom translational PKM, as an illustrative example.
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Dates et versions

hal-00553166 , version 1 (07-01-2011)

Identifiants

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Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Multiobjective Path Placement Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide. Mechanism and Machine Theory, 2010, 45 (8), pp.1125-1141. ⟨10.1016/j.mechmachtheory.2010.03.008⟩. ⟨hal-00553166⟩
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