Multi-objective path placement optimization of parallel kinematics machines based on energy consumption, shaking forces and maximum actuator torques: Application to the Orthoglide

作者: Raza Ur-Rehman , Stephane Caro , Damien Chablat , Philippe Wenger

DOI: 10.1016/J.MECHMACHTHEORY.2010.03.008

关键词:

摘要: This paper deals with the multi-objective path placement optimization for Parallel Kinematics Machines (PKMs) based on energy consumption, actuator torques and shaking forces. It aims at determining optimal location of a given test within workspace PKM in order to minimize electric used by actuators, their maximal torque forces subject kinematic, dynamic geometric constraints. The proposed methodology is applied Orthoglide, three-degree-of-freedom translational PKM, as an illustrative example.

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