Abstract
In the last few years, parallel manipulators are being increasingly studied and used for different applications. The performance of parallel manipulators is very sensitive to the geometric parameters, so it is essential to optimize them in order to obtain the desired function. We propose two optimization algorithms that consider the size and regularity of the workspace. The first one obtains the geometric parameters combination that results in the biggest and most regular workspace. The second method analyzes the geometric parameters combinations that result in an acceptable size of the workspace—even if it is not the biggest one—and finds out which ones result in the lowest power consumption. Even if the results vary depending on the application and trajectories studied, the proposed methodology can be followed to any type of parallel manipulator, application or trajectory. In this work we focus on the dimension optimization of the geometric parameters of the 2PRU-1PRS Multi-Axial Shaking Table (MAST) for automobile pieces testing purposes.
Highlights
If we compare parallel manipulators (PM) with serial manipulators, we observe that parallel manipulators have some interesting advantages, such as a higher stiffness all over the workspace (WS), better load/weight ratio and lower inertia
We propose two optimization algorithms based on grid search that consider the size and regularity of the workspace
The second algorithm analyzes the combinations of geometric parameters that result in an acceptable size of the workspace—even if it is not the biggest one—and finds out which ones result in the lowest power consumption
Summary
If we compare parallel manipulators (PM) with serial manipulators, we observe that parallel manipulators have some interesting advantages, such as a higher stiffness all over the workspace (WS), better load/weight ratio and lower inertia. In the last few years, parallel manipulators have been studied and used for applications where high stiffness, high speed and/or very good accuracy are required. Geometric parameters have a pronounced effect on these performance criteria of the parallel manipulators. The geometrical optimization of parallel manipulators is essential in order to obtain the desired performance in a particular application. Some of the possible performance criteria include design for best position accuracy, design to obtain the biggest possible workspace and design for optimum velocity, stiffness, force, dexterity or manipulability all over the workspace. Performance requirements of parallel manipulators may be antagonistic to one another, as Modungwa et al [2] highlighted. We can define an appropriate design that does not optimize a single function but ensures that the manipulator satisfies all the desired requirements
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