Design optimization of a Delta-like parallel robot through global stiffness performance evaluationReport as inadecuate




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1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique

Abstract : This paper presents the design optimization of a Delta-like robot manipulator with respect to multiple global stiffness objectives. For this purpose, a systematic elasto-geometrical modeling method is used to derive the analytical manipulator stiffness models by taking into account their link and joint compliances. The models are then involved within a statistically sensitivity analysis of the influence of the geometric parameters on four global indices that describe the structure stiffness over the workspace. Multi-Objective Genetic Algorithm, i.e. Pareto-optimization, is taken as the appropriate framework for the definition and the solution of the addressed multi-objective optimization problem. Our approach is original in the sense that it is systematic and it can be applied to any serial and parallel manipulators for which stiffness is a critical issue.





Author: Eric Courteille - Dominique Deblaise - Patrick Maurine -

Source: https://hal.archives-ouvertes.fr/



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