Design optimization of a Delta-like parallel robot through global stiffness performance evaluation

This paper presents the design optimization of a Delta-like robot manipulator with respect to multiple global stiffness objectives. For this purpose, a systematic elasto-geometrical modeling method is used to derive the analytical manipulator stiffness models by taking into account their link and jo...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5159 - 5166
Main Authors Courteille, E., Deblaise, D., Maurine, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Algorithm design and analysis
Design engineering
Design optimization
Genetic algorithms
Genetic engineering
Intelligent robots
Machining
Manipulator dynamics
Parallel robots
Robot sensing systems
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ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5353906

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Summary:This paper presents the design optimization of a Delta-like robot manipulator with respect to multiple global stiffness objectives. For this purpose, a systematic elasto-geometrical modeling method is used to derive the analytical manipulator stiffness models by taking into account their link and joint compliances. The models are then involved within a statistically sensitivity analysis of the influence of the geometric parameters on four global indices that describe the structure stiffness over the workspace. Multi-Objective Genetic Algorithm, i.e. Pareto-optimization, is taken as the appropriate framework for the definition and the solution of the addressed multi-objective optimization problem. Our approach is original in the sense that it is systematic and it can be applied to any serial and parallel manipulators for which stiffness is a critical issue.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5353906