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Multi-Objective Optimization of Stiffness and Workspace for a Parallel Kinematic Machine

[+] Author Affiliations
Zhongzhe Chi

University of Ontario Institute of Technology, Oshawa, ON, Canada

Dan Zhang

University of Ontario Institute of Technology, Oshawa, ON, CanadaQingdao Technological University, Qingdao, Shandong, China

Paper No. DETC2012-70490, pp. 485-495; 11 pages
doi:10.1115/DETC2012-70490
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

This paper presents optimizations of a parallel kinematic manipulator used for a machine tool in terms of its workspace and stiffness. The system stiffness and workspace of the parallel manipulator are conducted in the paper. In order to locate the maximum system stiffness and workspace, single and multi objective optimizations are performed in terms of rotation angles in x and y axes and translation displacement in z axis with Genetic Algorithms. By optimizing the design variables including geometric dimensions of the manipulator, the system stiffness and workspace of the proposed parallel kinematic manipulator has been greatly improved.

Copyright © 2012 by ASME

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