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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5407

Title: Techniques applied in design optimization of parallel manipulators
Authors: Modungwa, D
Tlale, NS
Twala, B
Keywords: Parallel robots
Parallel manipulators
Robotics
Dimensional synthesis
Mechatronics
Robots
RobMech 2011
Issue Date: Nov-2011
Publisher: RobMech 2011
Citation: Modungwa, D, Tlale, NS and Twala, B. 2011. Techniques applied in design optimization of parallel manipulators. 4th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, 23-25 November 2011
Series/Report no.: Workflow request;7483
Abstract: There are some key advantages associated with parallel robots, which have warranted their continued research and wide application in both university laboratories and industry. To obtain a parallel manipulator with good properties, as customized by user specifications, the design parameters of a parallel manipulator must be optimized. The optimal design of the general parallel manipulator’s kinematic parameters may be decomposed into two processes: structural synthesis and dimensional synthesis. Although both these processes will be described, the scope of this paper explores the dimensional synthesis aspect. Historical optimization methods adopted by researchers are discussed. This paper presents dimensional synthesis approaches based on performance requirements that have a potential to obtain almost all feasible design solutions that satisfy the requirements. The optimal design problem is a constrained nonlinear optimization problem with no explicit analytical expression. This makes the process of optimization a cumbersome and time-consuming endeavour, especially when the variables are diverse and objective functions are excessively complex. Thus, several techniques devised by researchers to solve the problem are reviewed in this paper.
Description: 4th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, 23-25 November 2011
URI: http://hdl.handle.net/10204/5407
Appears in Collections:Manufacturing science and technology
General science, engineering & technology

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