• ISSN 0258-2724
  • CN 51-1277/U
  • EI Compendex
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Volume 21 Issue 5
Oct.  2008
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Article Contents
LIU Xin, QIU Yuanying, SHENG Ying, LI Junhua. Optimization of Comprehensive Performance of Planar Redundant Parallel Manipulator[J]. Journal of Southwest Jiaotong University, 2008, 21(5): 626-632.
Citation: LIU Xin, QIU Yuanying, SHENG Ying, LI Junhua. Optimization of Comprehensive Performance of Planar Redundant Parallel Manipulator[J]. Journal of Southwest Jiaotong University, 2008, 21(5): 626-632.

Optimization of Comprehensive Performance of Planar Redundant Parallel Manipulator

  • Received Date: 11 Dec 2007
  • Publish Date: 25 Oct 2008
  • The optimization of comprehensive performance of a planar 2-DOF(degree-of-freedom) redundant parallel manipulator was investigated.Based on the kinematics model of the manipulator,its Jacobian matrix and optimal topologies were given.The influences of structural parameters of the manipulator on its workspace and singularity were discussed.A comprehensive performance criterion was proposed to evaluate kinematics accuracy,force transmissibility,structural stiffness and workspace utilization rate.An optimization model with the proposed criterion as the objective function and task-space and nonsingular configuration as the constrains was constructed,and an adaptive genetic algorithm was utilized to obtain the optimal solution.The research provides a reference for the optimal design of similar manipulators.

     

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