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A Methodology for Optimization Design of Parallel Manipulators with Similar Stiffness Performance

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14275))

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Abstract

The similar stiffness performance design of parallel manipulators (PMs) is an important prerequisite for scaling the mechanism according to the engineering requirements. Although the scaling problem has been successfully applied in the kinematic performance design of PMs, the scaling problem of the similar stiffness performance of PMs has always been a challenge due to the coupling relationship between the link length and section parameters in the stiffness matrix. This paper proposes a methodology for optimal similar stiffness performance design of PMs based on the characteristic length. The dimensional and sectional parameters of the mechanism are converted into nondimensional design parameters by defining the characteristic length and slenderness ratio. The invariance of optimal nondimensional design parameters under different stiffness indices and characteristic lengths is studied. The 2PRU-PSR PM was taken as the example to implement the proposed method. In order to ensure the robustness of the optimization results, the exhausted search algorithm is adopted in this work. The results showed that the optimal design parameters corresponding to the linear displacement index under different characteristic lengths were consistent, as well as the determinant index. The research results provide a new idea for the stiffness performance design of PMs.

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Acknowledgments

This study was supported by the National Natural Science Foundation of China (NSFC) (grant number 52275036).

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Jiaxing University, Jiaxing, 314001, Zhejiang, China

    Chao Yang, Fengli Huang, Tianze Sun & Yi Zhang

  2. Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, 310018, Zhejiang, China

    Wei Ye & Yi Zhang

  3. School of Information, Zhejiang Sci-Tech University, Hangzhou, 310018, Zhejiang, China

    Yi Zhang & Qiaohong Chen

Authors
  1. Chao Yang
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  2. Fengli Huang
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  3. Wei Ye
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  4. Tianze Sun
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  5. Yi Zhang
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  6. Qiaohong Chen
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Corresponding authors

Correspondence to Fengli Huang or Qiaohong Chen .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Yang, C., Huang, F., Ye, W., Sun, T., Zhang, Y., Chen, Q. (2023). A Methodology for Optimization Design of Parallel Manipulators with Similar Stiffness Performance. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14275. Springer, Singapore. https://doi.org/10.1007/978-981-99-6504-5_16

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  • DOI: https://doi.org/10.1007/978-981-99-6504-5_16

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6503-8

  • Online ISBN: 978-981-99-6504-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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