Design, analysis, and stiffness optimization of a three degree of freedom parallel manipulator

Authors:
Zhen Gao;Dan Zhang;Xiaolin Hu;Yunjian Ge
Affiliations:
Institute of intelligent machines, chinese academy of sciences, hefei, anhui province 230031, p. r. china and department of automation, university of science and technology of china, hefei, anhui ...;Faculty of engineering and applied science, university of ontario institute of technology, oshawa, ontario, canadal1h 7k4;Faculty of engineering and applied science, university of ontario institute of technology, oshawa, ontario, canadal1h 7k4;Institute of intelligent machines, chinese academy of sciences, hefei, anhui province 230031, p. r. china
Venue:
Robotica
Year:
2010

Citing 6
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Abstract

This paper proposed a novel three degree of freedom (DOF) parallel manipulator—two translations and one rotation. The mobility study and inverse kinematic analysis are conducted, and a CAD model is presented showing the design features. The optimization techniques based on artificial intelligence approaches are investigated to improve the system stiffness of the proposed 3-DOF parallel manipulator. Genetic algorithms and artificial neural networks are implemented as the intelligent optimization methods for the stiffness synthesis. The mean value and the standard deviation of the global stiffness distribution are proposed as the design indices. Both the single objective and multi-objective optimization issues are addressed. The effectiveness of this methodology is validated with Matlab.