Multi-Objective Optimization of a Symmetric Schonflies Motion Generator

机译：对称Schonflies运动发生器的多目标优化

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The multiobjective optimal design of a four-degree-of-freedom symmetric parallel manipulator is the subject of this paper. The design has rotary actuators and generates SCARA motion. Kinematic functions are implemented and used in a multiobjective optimization. First, the manipulator description is made, and kinematic problems are solved. Then the Circular Trajectory pattern and Singularity-free-volume concepts is implemented and an operational dexterous workspace along with his volume is defined. Similarly, the manipulator's kinematic dexterity based on the Frobenius norm is found. Finally, the kinematic results are proposed as objective functions in a Design Parameters Space approach.

机译：四自由度对称并联机械手的多目标优化设计是本文的主题。该设计具有旋转致动器，并产生SCARA运动。运动学功能是在多目标优化中实现和使用的。首先，进行机械手描述，并解决运动学问题。然后实施圆形轨迹模式和无奇异体积概念，并定义一个可操作的灵巧工作空间及其体积。类似地，找到基于Frobenius范数的机械手的运动学灵活性。最后，将运动学结果作为设计参数空间方法中的目标函数提出。

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来源
《New trends in mechanism science : Analysis and design》|2010年|p.165-172|共8页
会议地点 Cluj-Napoca(RO);Cluj-Napoca(RO)
作者
B. Sandru; C. Pinto; O. Altuzarra; A. Hernandez;
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作者单位

Mechanical Engineering Department, University of the Basque Country UPV/EHU, Bilbao, Spain;

Mechanical Engineering Department, University of the Basque Country UPV/EHU, Bilbao, Spain;

Mechanical Engineering Department, University of the Basque Country UPV/EHU, Bilbao, Spain;

Mechanical Engineering Department, University of the Basque Country UPV/EHU, Bilbao, Spain;

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原文格式 PDF
正文语种 eng
中图分类机械设计、计算与制图;
关键词
parallel manipulators; dexterity; workspace; multiobjective optimization;

机译：并联机械手；灵巧;工作区多目标优化;

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2. Kinematic and dynamic analysis of a novel parallel kinematic Schonflies motion generator [J] . Arian Alaleh, Isaksson Mats, Gosselin Clement Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2020,第期

机译：新型平行运动学杂志运动发生器的运动和动态分析
3. The dynamics of a parallel Schonflies-motion generator [J] . Eskandary Peyman Karimi, Angeles Jorge Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2018,第期

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4. Multi-objective Design Optimization of a Parallel Schonflies-Motion Robot [C] . Guanglei Wu, Shaoping Bai, Preben Hjornet ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots . 2016

机译：平行的Schonflies-Motion机器人的多目标设计优化
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机译：关于非对称四肢平行斯基诺运动发生器的动态与计算扭矩控制

Multi-Objective Optimization of a Symmetric Schonflies Motion Generator

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