Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators
Abstract
:1. Introduction
2. Kinematic Analysis and Modelling
2.1. Pure Translational Case
2.2. Pure Rotational Case
2.3. Mixed Motion Case
3. Optimization Discussion and Modelling
3.1. Pure Translational Case
3.2. Pure Rotational Case
3.3. Mixed Motion Case
4. Optimization Results
4.1. Pure Translational Case
4.2. Pure Rotational Case
4.3. Mixed Motion Case
5. Stiffness Models
5.1. TSM Case
5.2. KCM Case
5.3 DSM Case
6. Comparisons
6.1. Three Cases
6.2. Comparison
7. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
References
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Options | Parameters |
---|---|
The size of the population | 50 |
Maximum of generations | 66 |
Selection strategy | Tournament |
The size of tournament | 2 |
Crossover type | Intermediate |
Crossover ratio | 1 |
Pareto front population fraction | 0.7 |
KCM | TSM | DSM | |
---|---|---|---|
Z Compliance | 0.0003 | 0.0003 | 0.0010 |
Compliance | 0.1428 | 0.1461 | 0.4218 |
Compliance | 0.1461 | 0.1472 | 0.4249 |
Sum of compliances | 0.2936 | 0.2936 | 0.8477 |
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Zhang, D.; Wei, B. Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators. Machines 2016, 4, 24. https://0-doi-org.brum.beds.ac.uk/10.3390/machines4040024
Zhang D, Wei B. Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators. Machines. 2016; 4(4):24. https://0-doi-org.brum.beds.ac.uk/10.3390/machines4040024
Chicago/Turabian StyleZhang, Dan, and Bin Wei. 2016. "Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators" Machines 4, no. 4: 24. https://0-doi-org.brum.beds.ac.uk/10.3390/machines4040024