Robotica
- Robotica / Volume 30 / Issue 02 / March 2012, pp 305-314
- Copyright © Cambridge University Press 2011
- DOI: http://dx.doi.org/10.1017/S0263574711000531 (About DOI), Published online: 23 June 2011
Articles
Optimal design of a class of generalized symmetric Gough–Stewart parallel manipulators with dynamic isotropy and singularity-free workspace
Zhizhong Tonga1 c1, Jingfeng Hea1, Hongzhou Jianga1 and Guangren Duana2
a1 School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P. R. China
a2 School of Astronautics, Harbin Institute of Technology, Harbin 150001, P. R. China
SUMMARY
In this paper, the definition of generalized symmetric Gough–Stewart parallel manipulators is presented. The concept of dynamic isotropy is proposed and the singular values of the bandwidth matrix are introduced to evaluate dynamic isotropy and solved analytically. Considering the payload's mass-geometry characteristics, the formulations for completely dynamic isotropy are derived in close form. It is proven that a generalized symmetric Gough–Stewart parallel manipulator is easer to achieve dynamic isotropy and applicable in engineering applications. An optimization procedure based on particle swarm optimization is proposed to obtain better dexterity and large singularity-free workspace, which guarantees the optimal solution and gives mechanically feasible realization.
(Received May 11 2011)
(Accepted May 09 2011)
(Online publication June 23 2011)
KEYWORDS:
- Parallel manipulators;
- Generalized symmetric Gough–Stewart;
- Dynamic isotropy;
- Optimal design;
- PSO
Correspondence:
c1 Corresponding author. E-mail: tongzhizhong@yahoo.com.cn
