Approach in the Integrated Structure-Control Optimization of a 3RRR Parallel Robot View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2018-09-29

AUTHORS

S. Ivvan Valdez , M. Infante-Jacobo , S. Botello-Aceves , Eusebio Hernández , E. Chávez-Conde

ABSTRACT

In this paper, an optimization methodology for the structure and control optimization of a 3RRR planar parallel robot is presented. The proposal consists of three stages in cascade: firstly, we optimize the geometry for a maximum workspace. Secondly, the kinematics is used to optimize dexterity for a set of desired paths inside the workspace that is found in the first stage, and, finally, a set of dynamic control gains are optimized for trajectories given by the same paths. The methodology permits to reduce the computational cost for the geometry optimization stages, while optimizing the control gains using high precision numerical simulation using SimWise 4D commercial software, with a reduced number of evaluations of candidate solutions, and as consequence, a reduced computational time. The results demonstrate that the final structure-control optimized design accurately follows the desired trajectories. More... »

PAGES

376-386

References to SciGraph publications

Book

TITLE

Advances in Service and Industrial Robotics

ISBN

978-3-030-00231-2
978-3-030-00232-9

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-030-00232-9_40

DOI

http://dx.doi.org/10.1007/978-3-030-00232-9_40

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1107305281


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