Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Optimal Design of a 6-DOF Parallel Mechanism using a Genetic Algorithm

유전 알고리즘을 이용한 6자유도 병렬기구의 최적화 설계

  • 황윤권 (현대모비스 기술연구소) ;
  • 윤정원 (경상대학교기계항공공학부 항공기부품기술연구센터)
  • Published : 2007.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

Keywords

References

  1. K. Y. Tsai and K. D. Huang, 'The design of isotropic 6-DOF parallel manipulators using isotropy generators,' Mechanism and Machine Theory, vol. 38, pp. 1199-1214, 2003 https://doi.org/10.1016/S0094-114X(03)00067-3
  2. K. Y. Tasi and S. R. Zhou, 'The optimum design of 6-DOF isotropic parallel manipulators,' Journal of Robotic Systems, vol. 22, no.6, pp. 333-340, 2005 https://doi.org/10.1002/rob.20069
  3. M. Gallant and R. Boudreau, 'The synthesis of planar parallel manipulators with prismatic joints for an optimal, singularity-free workspace,' Journal of Robotic Systems, vol. 19, no. 1, pp, 13-24, 2002 https://doi.org/10.1002/rob.8118
  4. 이재훈, 김형욱, 이명주, 서일홍, '새로운 6자유도 병렬형 햅틱 기구의 최적설계 및 해석,' 제어.자동화.시스템공학회지, 제 9 권，제 l 호, 1윌，pp. 63-72, 2003 https://doi.org/10.5302/J.ICROS.2003.9.1.063
  5. 윤정원, 류제하, '병렬구조를 이용한 새로운 6자유도 역감제시 장치의 해석 및 설계,' 제어.자동차.시스템공학회지，제 7 권，제 1 호, 3윌，pp. 32-40，2001
  6. J. H. Holland, Adaptation in natural and artificial systems, The University of Michigan Press, Michigan, 1975
  7. M. Mitchell, An introduction to genetic algorithm, Massachusetts Institute of Technology, 1996
  8. C. Gosselin and J. Angeles, 'A global performance index for the kinematic optimization of roboti manipulator,' Trans. ASME J.Mech. Des., vol. 113, pp. 220-226, 1991 https://doi.org/10.1115/1.2912772
  9. I. A. Bonev, J. H., 'A new approach to orientation workspace analysis of 6-DOF parallel manipulators,' Mechanism and Machine Theory, vol. 36, pp. 15-28, 2001 https://doi.org/10.1016/S0094-114X(00)00032-X
  10. D. Driankov, H. Hellendoorn, M. Reinfrank, An introduction to Fuzzy Control, Springer-Verlag Berlin Heidelberg, 1993

Cited by

  1. A novel optimal assembly algorithm for haptic interface applications of a virtual maintenance system vol.23, pp.1, 2009, https://doi.org/10.1007/s12206-008-0902-y
  2. Optimal Design of a Novel Knee Orthosis using a Genetic Algorism vol.17, pp.10, 2011, https://doi.org/10.5302/J.ICROS.2011.17.10.1021