Optimal design of a class of generalized symmetric Gough-Stewart parallel manipulators with dynamic isotropy and singularity-free workspace

作者：Tong Zhizhong^*; He Jingfeng; Jiang Hongzhou; Duan Guangren

来源：Robotica, 2012, 30: 305-314.

DOI：10.1017/S0263574711000531

• Parallel manipulators
• Generalized symmetric Gough-Stewart
• Dynamic isotropy
• Optimal design
• PSO

In this paper, the definition of generalized symmetric Gough-Stewart parallel manipulators is presented. The concept of dynamic isotropy is proposed and the singular values of the bandwidth matrix are introduced to evaluate dynamic isotropy and solved analytically. Considering the payload's mass-geometry characteristics, the formulations for completely dynamic isotropy are derived in close form. It is proven that a generalized symmetric Gough-Stewart parallel manipulator is easer to achieve dynamic isotropy and applicable in engineering applications. An optimization procedure based on particle swarm optimization is proposed to obtain better dexterity and large singularity-free workspace, which guarantees the optimal solution and gives mechanically feasible realization.

• 出版日期2012-3
• 单位哈尔滨工业大学