Constrained structural optimisation of a revolute-jointed planar parallel manipulator

This paper addresses kinematic analysis and constrained structural optimisation of a five-bar planar parallel manipulator articulated with revolute joints only. The kinematics of the manipulator is investigated, and its Jacobian matrix as a function of the input joint positions has been formulated. An objective function based on minimizing the overall deviation of the condition number of the manipulator Jacobian matrix from the ideal condition number throughout the workspace of the manipulator has been employed to determine the link lengths subjected to a set of optimisation constraints. Optimisation results indicate that the proposed optimisation method is systematic, versatile and easy to implement for the optimal synthesis of the five-bar parallel manipulator and other kinematic chains.

[1]  J. Kenneth Salisbury,et al.  Articulated Hands , 1982 .

[2]  Clément Gosselin,et al.  A Global Performance Index for the Kinematic Optimization of Robotic Manipulators , 1991 .

[3]  K. Ting,et al.  Rotatability Laws for N-Bar Kinematic Chains and Their Proof , 1991 .

[4]  Jorge Angeles,et al.  On the kinematic design of the 5R planar, symmetric manipulator , 2001 .

[5]  Bernard Roth,et al.  Workspace and Mobility of a Closed- Loop Manipulator , 1986 .

[6]  Feng Gao,et al.  Performance evaluation of two-degree-of-freedom planar parallel robots , 1998 .

[7]  John J. Craig,et al.  Articulated hands: Force control and kinematic issues , 1981 .

[8]  Vijay Kumar,et al.  Kinematic and Kinetostatic Synthesis of Planar Coupled Serial Chain Mechanisms , 2002 .

[9]  Ferdinand Freudenstein,et al.  Design of geared 5-bar mechanisms for unlimited crank rotations and optimum transmission , 1978 .

[10]  Gürsel Alici.  An inverse position analysis of five-bar planar parallel manipulators , 2002, Robotica.

[11]  K. H. Hunt,et al.  Structural Kinematics of In-Parallel-Actuated Robot-Arms , 1983 .

[12]  H. Zhou,et al.  Analysis and optimal synthesis of hybrid five-bar linkages , 2001 .

[13]  Gregory Walsh,et al.  Optimization of a three DOF translational platform for well-conditioned workspace , 1997, Proceedings of International Conference on Robotics and Automation.

[14]  Gao Feng,et al.  A physical model of the solution space and the atlas of the reachable workspace for 2-DOF parallel planar manipulators , 1996 .

[15]  Kwun-Lon Ting,et al.  Five-Bar Grashof Criteria , 1986 .

[16]  L. Tsai,et al.  Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator , 2000 .

[17]  Clément Gosselin,et al.  Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator , 2000 .

[18]  Jorge Angeles,et al.  Kinematic Isotropy and the Optimum Design of Parallel Manipulators , 1997, Int. J. Robotics Res..

[19]  B. Paul,et al.  A Reassessment of Grashof’s Criterion , 1979 .