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Optimum design of 6-DOF parallel manipulator with translational / rotational workspaces for haptic device application †
| Content Provider | Semantic Scholar |
|---|---|
| Author | Yoon, Jung Won Ryu, Jeha Hwang, Yoon-Kwon |
| Copyright Year | 2010 |
| Abstract | This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increasedentropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a preexisting base model. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.j-mst.org/On_line/admin/files/18-J2009-06287_1151-1162_.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Conditioning (Psychology) Genetic Translation Process Genetic algorithm Haptic Device Component Haptic technology Jacobian matrix and determinant Linkage (software) Loss function Mathematical optimization Optimal design Optimization problem Parallel manipulator Performance Workspace |
| Content Type | Text |
| Resource Type | Article |
