This book investigates the performance analysis and optimization design of parallel manipulators in detail. It discusses performance evaluation indices for workspace, kinematic, stiffness, and dynamic performance, single- and multi-objective optimization design methods, and ways to improve optimization design efficiency of parallel manipulators. This book collects the authors’ research results previously scattered in many journals and conference proceedings and presents them in a unified form after the methodical edition. As a result, numerous performance analyses and optimization of parallel manipulators are presented, in which the readers in the robotics community may be greatly interested. More importantly, readers can use the methods and tools introduced in this book to carry out performance evaluation and optimization of parallel manipulators by themselves. The book can provide important reference and guideline for undergraduate and graduate students, engineers, and researchers who are interested in design and application of parallel manipulators.
Author(s): Qinchuan Li, Chao Yang, Lingmin Xu, Wei Ye
Series: Research on Intelligent Manufacturing
Publisher: Springer-HUST
Year: 2023
Language: English
Pages: 302
City: Wuhan
Brief Introduction
Contents
1 Introduction
1.1 Research Background
1.2 Performance Evaluation Indices
1.2.1 Workspaces
1.2.2 Kinematic Performance
1.2.3 Stiffness Performance
1.2.4 Dynamic Performance
1.3 Optimization Algorithm
1.3.1 Traditional Optimization Algorithms
1.3.2 Intelligent Optimization Algorithms
1.3.3 Ways to Improve Optimization Algorithms
1.4 Multi-Objective Optimization Methods
1.4.1 Comprehensive Objective Method
1.4.2 Pareto Frontier Method
1.4.3 PCA Method
1.5 Summary
References
2 Kinematic Performance Analysis and Optimization of Parallel Manipulators Without Actuation Redundancy
2.1 Basics of Screw Theory
2.2 Condition Number Indices and Applications
2.2.1 Condition Number Indices
2.2.2 Example 1: 6PSS PM
2.2.3 Example 2: 2-(PRR)2RH PM
2.2.4 Example 3: 2PRS-PRRU PM
2.3 Motion/Force Transmission Indices and Applications
2.3.1 Motion/Force Transmission Indices
2.3.2 Example 1: 6PSS PM
2.3.3 Example 2: 2PUR-PRU PM
2.3.4 Example 3: 2PUR-PSR PM
2.4 Motion/Force Constraint Indices and Applications
2.4.1 Motion/Force Constraint Indices
2.4.2 Example 1: 2PUR-PRU PM
2.4.3 Example 2: 2PUR-PSR PM
2.5 Summary
References
3 Motion/Force Transmission Performance Analysis and Optimization of Parallel Manipulators with Actuation Redundancy
3.1 Motion/Force Transmission Indices of Parallel Manipulators with Actuation Redundancy
3.2 Example 1: 6PSS-UPS PM
3.3 Example 2: 2UPR-2PRU PM
3.4 Example 3: 2PUR-2PRU PM
3.5 Summary
References
4 Motion/Force Constraint Performance Analysis and Optimization of Overconstrained Parallel Manipulators with Actuation Redundancy
4.1 Motion/Force Constraint Indices of Overconstrained Parallel Manipulators with Actuation Redundancy
4.2 Example 1: 2UPR-2PRU PM
4.3 Example 2: 2PUR-2PRU PM
4.4 Summary
References
5 Elastostatic Stiffness Evaluation and Optimization of Parallel Manipulators
5.1 Stiffness Performance Evaluation Index
5.2 Example: 2UPR-RPU PM
5.2.1 Stiffness Modeling
5.2.2 Stiffness Performance Optimization
5.3 Summary
References
6 A Methodology for Optimal Stiffness Design of Parallel Manipulators Based on the Characteristic Size
6.1 Methodology for the Optimal Stiffness Performance Design of PMs
6.2 Example 1: Optimal Stiffness Performance Design of the 2UPR-RPU PM
6.3 Example 2: Optimal Stiffness Performance Design of the 2PRU-PSR PM
6.4 Summary
References
7 Multi-objective Optimization of Parallel Manipulators Using Game Algorithm
7.1 Multi-objective Optimization Game Algorithm
7.2 Example: 2UPR-RPU PM
7.2.1 Regular Workspace Volume
7.2.2 Motion/Force Transmissibility
7.2.3 Stiffness Performance Evaluation
7.2.4 Multi-objective Optimization
7.3 Summary
References
8 Hybrid Algorithm for Multi-objective Optimization Design of Parallel Manipulators
8.1 Hybrid Algorithm and GPR-Based Mapping Modeling
8.1.1 Procedure of the Hybrid Algorithm
8.1.2 GPR-Based Mapping Model
8.2 Example: 2PRU-UPR PM
8.2.1 Kinematic Performance Index
8.2.2 Stiffness Performance Index
8.2.3 Elastodynamic Performance Index
8.2.4 Regular Workspace Volume
8.2.5 Multi-objective Optimization
8.3 Summary
References
9 Sensitivity Analysis and Multi-objective Optimization Design of Parallel Manipulators
9.1 Sensitivity Analysis and Multi-objective Optimization Design Method
9.1.1 Response Surface Model
9.1.2 Sensitivity Analysis
9.1.3 Multi-objective Optimization Design of PMs
9.2 Example: Delta PM
9.2.1 Workspace Analysis
9.2.2 Kinematic Performance Index
9.2.3 Dynamic Performance Index
9.2.4 Sensitivity Analysis and Multi-objective Optimization Design of Delta PM
9.3 Summary
References
10 Multi-objective Optimization Design of Parallel Manipulators Based on the Principal Component Analysis
10.1 Multi-objective Optimization of PMs Based on the Principal Component Analysis
10.2 Example 1: 3RPS PM
10.2.1 Performance Indices of the 3RPS PM
10.2.2 Multi-objective Optimization Design of the 3RPS PM
10.3 Example 2: 6PSS PM
10.3.1 Performance Indices of the 6PSS PM
10.3.2 Multi-objective Optimization Design of the 6PSS PM
10.4 Summary
References
11 Multi-objective Optimization Design of Parallel Manipulators Based on the Intelligent-Direct Search Algorithm
11.1 Intelligent-Direct Search Algorithm
11.1.1 Introduction of Pareto Front
11.1.2 Procedure of the Intelligent-Direct Search Algorithm
11.2 Example: 2UPR-RPU PM
11.2.1 Performance Indices of the 2UPR-RPU PM
11.2.2 Multi-objective Optimization Design of the 2UPR-RPU PM
11.3 Summary
References
