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An optimization-based algorithm for determination of inclusive and constant orientation workspace of parallel mechanisms

Vossoughi, G ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2009-11148
  3. Publisher: American Society of Mechanical Engineers (ASME)
  4. Abstract:
  5. Workspace of a mechanism is generally defined as the region of space which end-effector of that mechanism can reach. Determination of workspace is an important task in the design of a mechanism. However, for parallel mechanisms, due to the complexity of solving the forward kinematic equations, determination of workspace is much more complicated than for serial mechanisms. In the literature, time-consuming numerical methods, such as point-by-point searching, are usually employed for this purpose. In this paper, an optimization-based algorithm is introduced for the boundary determination of inclusive and constant orientation workspaces of parallel mechanisms. In the proposed algorithm, thanks to applying the optimization approach along with point-by-point searching, the dimension of the point-by-point searched space (and hence, the consumed time) are significantly reduced. While different optimization methods can be used in the proposed algorithm, Particle Swarm Optimization is utilized as the optimization technique in this paper. The proposed algorithm is illustrated through its application to a planar and a spatial parallel mechanism
  6. Keywords:
  7. Algorithms ; Inverse kinematics ; Mechanical engineering ; Mechanisms ; Numerical methods ; Particle swarm optimization (PSO) ; Boundary determination ; Forward kinematics ; Optimization approach ; Optimization method ; Optimization techniques ; Optimization-based algorithm ; Orientation workspace ; Parallel mechanisms ; Searched space ; Serial mechanism ; Spatial parallel mechanism ; Machine design
  8. Source: ASME 2009 International Mechanical Engineering Congress and Exposition, 13 November 2009 through 19 November 2009 ; Volume 10, Issue PART A , 2010 , Pages 125-132 ; 9780791843833 (ISBN)
  9. URL: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1641635