A Stewart-Platform based manipulator: general theory and practical construction
International Journal of Robotics Research
Adaptation in natural and artificial systems
Adaptation in natural and artificial systems
Genetic Algorithms Plus Data Structures Equals Evolution Programs
Genetic Algorithms Plus Data Structures Equals Evolution Programs
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Optimal design of reconfigurable parallel machining systems
Robotics and Computer-Integrated Manufacturing
Six-DOF micro-manipulator based on compliant parallel mechanism with integrated force sensor
Robotics and Computer-Integrated Manufacturing
| Hi-index | 0.00 |
In this paper, a new method – named lumped kinetostatic modeling – to analyze the effect of the link flexibility on the mechanism's stiffness is provided. A new type of mechanism whose degree of freedom (dof) is dependent on a passive constraining leg connecting the base and the platform is introduced and analyzed. With the proposed kinetostatic model, a significant effect of the link flexibility on the mechanism's precision has been demonstrated. The influence of the change in structure parameters, including material properties, on the system behavior is discussed. In the paper, the geometric model of this kind of mechanism is first introduced. Then, a lumped kinetostatic model is proposed in order to account for joint and link compliances; some results and design guidelines are obtained. Finally, the optimization of the precision is addressed using a genetic algorithm.