Design optimization of a Delta-like parallel robot through global stiffness performance evaluation - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2009

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

Résumé

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.
Fichier principal
Vignette du fichier
EC_DD_PM_HAL.pdf (1.52 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00913381 , version 1 (05-12-2013)

Identifiants

Citer

Eric Courteille, Dominique Deblaise, Patrick Maurine. Design optimization of a Delta-like parallel robot through global stiffness performance evaluation. International conference on Intelligent Robots and Systems, Oct 2009, Saint-Louis, United States. pp.5159 - 5166, ⟨10.1109/IROS.2009.5353906⟩. ⟨hal-00913381⟩
98 Consultations
880 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More