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Optimal design of a class of generalized symmetric Gough–Stewart parallel manipulators with dynamic isotropy and singularity-free workspace

Published online by Cambridge University Press:  23 June 2011

Zhizhong Tong ,
Jingfeng He ,
Hongzhou Jiang  and
Guangren Duan
Zhizhong Tong*
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P. R. China
Jingfeng He
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P. R. China
Hongzhou Jiang
Affiliation:
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P. R. China
Guangren Duan
Affiliation:
School of Astronautics, Harbin Institute of Technology, Harbin 150001, P. R. China
*
*Corresponding author. E-mail: tongzhizhong@yahoo.com.cn
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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.

Keywords

Parallel manipulatorsGeneralized symmetric Gough–StewartDynamic isotropyOptimal designPSO

Information

Type
Articles
Information
Robotica , Volume 30 , Issue 2 , March 2012 , pp. 305 - 314
Copyright
Copyright © Cambridge University Press 2011

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