Contribution to the Optimization of Closed-Loop Multibody Systems : Application to Parallel Manipulators
(2003) 5th World Congress on Structural and Multidisciplinary Optimization — Location: Venice (19.May.2003)
Files
collard_WCSMO5.pdf
Open Access - Adobe PDF
- 124.97 KB
Details
- Authors
- Abstract
- This paper describes an original and robust method to optimize the design of closed-loop mechanisms, especially parallel manipulators. In other words, these mechanisms include assembling constraints we solved using a Newton-Raphson algorithm which may fail when the Jacobian matrix of the constraints is ill-conditioned. Therefore, the technique we propose takes advantage of that conditioning to penalize properly the objective function. Applications are shown: on the one hand, a simple example about the design of a planar ejector and, on the other hand, more realistic examples about the kinematical properties of parallel robots, in particular Delta-type and HexaSlide-type manipulators.
- Affiliations
Uliège Department of Mechanics and Aerospace
Citations
Collard, J.-F., Duysinx, P., & Fisette, P. (2003). Contribution to the Optimization of Closed-Loop Multibody Systems : Application to Parallel Manipulators. 5th World Congress on Structural and Multidisciplinary Optimization, Venice. https://hdl.handle.net/2078.5/226233