Skip to main content

2023 | Buch

Performance Analysis and Optimization of Parallel Manipulators

verfasst von: Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye

Verlag: Springer Nature Singapore

Buchreihe : Research on Intelligent Manufacturing

insite
SUCHEN

Über dieses Buch

This book investigates the performance analysis and optimization design of parallel manipulators in detail. It discusses performance evaluation indices for workspace, kinematic, stiffness, and dynamic performance, single- and multi-objective optimization design methods, and ways to improve optimization design efficiency of parallel manipulators. This book collects the authors’ research results previously scattered in many journals and conference proceedings and presents them in a unified form after the methodical edition. As a result, numerous performance analyses and optimization of parallel manipulators are presented, in which the readers in the robotics community may be greatly interested. More importantly, readers can use the methods and tools introduced in this book to carry out performance evaluation and optimization of parallel manipulators by themselves. The book can provide important reference and guideline for undergraduate and graduate students, engineers, and researchers who are interested in design and application of parallel manipulators.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
Performance optimization of parallel manipulators (PMs) has attracted adequate attention in recent years. It mainly concerns performance indices, optimization algorithms, and optimization methods. This chapter presents an in-depth, comprehensive, reasoned overview for the three basic issues. The research status and existing problems of these issues along with the distinctive approaches that have been explored are reported.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 2. Kinematic Performance Analysis and Optimization of Parallel Manipulators Without Actuation Redundancy
Abstract
Kinematic performance analysis and optimization of PMs are essential for the actual design and control, which have attracted increasing attention in both academia and industry.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 3. Motion/Force Transmission Performance Analysis and Optimization of Parallel Manipulators with Actuation Redundancy
Abstract
Over the last few decades, PMs with actuation redundancy have attracted increasing attention in both academia and industry.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 4. Motion/Force Constraint Performance Analysis and Optimization of Overconstrained Parallel Manipulators with Actuation Redundancy
Abstract
In Sect. 2.​4, the motion/force constraint performance of overconstrained PMs without actuation redundancy.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 5. Elastostatic Stiffness Evaluation and Optimization of Parallel Manipulators
Abstract
In this chapter, we focus on the stiffness performance evaluation and optimization design of parallel manipulators (PMs), the comprehensive stiffness index (CSI) that separates the linear stiffness and angular stiffness and considers the effect of the coupling of the non-diagonal elements is introduced, as well as the extreme stiffness index.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 6. A Methodology for Optimal Stiffness Design of Parallel Manipulators Based on the Characteristic Size
Abstract
It is important to design the optimal structural size ratio for the stiffness performance of parallel manipulators (PMs), so that the mechanism can be scaled according to the engineering environment requirements for the stiffness performance to design different specifications.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 7. Multi-objective Optimization of Parallel Manipulators Using Game Algorithm
Abstract
In this chapter, we focus on a multi-objective optimization game algorithm (MOOGA) for parallel manipulators (PMs). First, the distributions of the objective functions in the complete parameter space are calculated and sorted by importance. Second, game weighting factors and lower bound values are assigned to different objective functions according to the engineering requirements. Finally, after multiple rounds of gaming according to the weighting factors and lower bound values, the objective functions reach an optimal balance point and obtain a balance intersection subspace. In addition, a comprehensive stiffness index (CSI) is introduced, that takes the coupling of the non-diagonal elements into consideration. This index decouples the linear and angular stiffness and has definite physical dimensions as well as a clear physical meaning. A Lagrangian function is used to obtain the maximum and minimum stiffness at a given position along with their corresponding directions. The distributions of extreme stiffness and corresponding directions expressed using spherical coordinates, which are useful for trajectory planning, are introduced. To compare the difference between the CSI and the principal diagonal stiffness index (PDSI), a divergence index κ is introduced. 2UPR-RPU PM is taken as an examples here for analysis and discussion.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 8. Hybrid Algorithm for Multi-objective Optimization Design of Parallel Manipulators
Abstract
Since the parallel manipulators (PMs) have excellent dynamic performance, high agility.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 9. Sensitivity Analysis and Multi-objective Optimization Design of Parallel Manipulators
Abstract
In the optimization design mathematical model, dimensions are always concerned as variables, but it is noted that a mechanism especially PM may associate with amount of dimensions.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 10. Multi-objective Optimization Design of Parallel Manipulators Based on the Principal Component Analysis
Abstract
The traditional multi-objective optimization design methods of parallel manipulators (PMs) mainly include the comprehensive objective method (Wang and Zhang in Mech. Mach. Theory 112:61–83, 2017) and the Pareto frontier method (STAN et al. in Potentialities of optimal design methods for the development of mini parallel robots using genetic algorithms, vols 1–6, pp 1591–1596 2007).
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Chapter 11. Multi-objective Optimization Design of Parallel Manipulators Based on the Intelligent-Direct Search Algorithm
Abstract
It is necessary to obtain more non-dominated solutions for multi-objective optimization design of parallel manipulators (PMs) in actual engineering environment, the traditional optimization design method achieves this goal by increasing the number of population size, and however, this leads to an exponential increase in computational cost.
Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Metadaten
Titel
Performance Analysis and Optimization of Parallel Manipulators
verfasst von
Qinchuan Li
Chao Yang
Lingmin Xu
Wei Ye
Copyright-Jahr
2023
Verlag
Springer Nature Singapore
Electronic ISBN
978-981-9905-42-3
Print ISBN
978-981-9905-41-6
DOI
https://doi.org/10.1007/978-981-99-0542-3

    Marktübersichten

    Die im Laufe eines Jahres in der „adhäsion“ veröffentlichten Marktübersichten helfen Anwendern verschiedenster Branchen, sich einen gezielten Überblick über Lieferantenangebote zu verschaffen.