Modungwa, DTlale, NSTwala, B2011-12-132011-12-132011-11Modungwa, 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 2011http://hdl.handle.net/10204/54074th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, 23-25 November 2011There 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.enParallel robotsParallel manipulatorsRoboticsDimensional synthesisMechatronicsRobotsRobMech 2011Conference PresentationModungwa, D., Tlale, N., & Twala, B. (2011). Techniques applied in design optimization of parallel manipulators. RobMech 2011. http://hdl.handle.net/10204/5407Modungwa, D, NS Tlale, and B Twala. "Techniques applied in design optimization of parallel manipulators." (2011): http://hdl.handle.net/10204/5407Modungwa D, Tlale N, Twala B, Techniques applied in design optimization of parallel manipulators; RobMech 2011; 2011. http://hdl.handle.net/10204/5407 .TY - Conference Presentation AU - Modungwa, D AU - Tlale, NS AU - Twala, B AB - 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. DA - 2011-11 DB - ResearchSpace DP - CSIR KW - Parallel robots KW - Parallel manipulators KW - Robotics KW - Dimensional synthesis KW - Mechatronics KW - Robots KW - RobMech 2011 LK - https://researchspace.csir.co.za PY - 2011 T1 - Techniques applied in design optimization of parallel manipulators TI - Techniques applied in design optimization of parallel manipulators UR - http://hdl.handle.net/10204/5407 ER -