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

Authors:
Eric Courteille;Dominique Deblaise;Patrick Maurine
Affiliations:
LGCGM, Rennes, France and Department of Mechanical and Control Systems Engineering, INSA de Rennes, France;LGCGM, Rennes, France and Department of Mechanical and Control Systems Engineering, INSA de Rennes, France;LGCGM, Rennes, France and Department of Mechanical and Control Systems Engineering, INSA de Rennes, France
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 6
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Abstract

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.