Design Optimisation of the 3-RRR Planar Parallel Manipulator via Wrench Capability Analysis

Joshua K. Pickard ； Juan A. Carretero

《Proceedings of the 14th IFToMM World Congress》 14th-1 (2015/10) Pp. 410-416

https://doi.org/10.6567/IFToMM.14TH.WC.OS2.038

並列摘要

The design of a robotic architecture is specified in terms of the robot’s geometry and selected actuators. Dimensional synthesis refers to the selection of the length of the links, as well as the geometry of the moving platform and fixed base. In this work, optimal dimensional synthesis of the 3-RRR planar parallel manipulator is performed in order to obtain a task-optimised design through wrench capability analysis. This refers to the study of a robot's capability in generating a desired set of wrenches (force/moment couples). Here, given a task with a desired wrench set and desired trajectory, a convex-hull method is applied to a discretised grid of reachable workspace poses (end-effector positions and orientations) to determine the set of poses satisfying the task requirements. Dimensional synthesis is performed using a global optimisation routine for determining minimal designs able to complete the selected task.

並列關鍵字

dimensional synthesis ； optimisation ； wrench capability ； wrench workspace ； convex-hull