SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace
Joint Authors
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-03
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
The determination of kinematic parameters for a parallel robotic system (PRS) is an important and a critical phase to maximize reachable workspace while avoiding singular configurations.
Stewart Platform (SP) mechanism is one of the widely known PRS and it is used to demonstrate the proposed technique.
In the related literature, GCI (Global Condition Index) and LCI (Local Condition Index) are the commonly used performance indexes which give a measure about the dexterity of a mechanism.
In this work, Sequential Quadratic Programming (SQP) method is used to optimize kinematic parameters of a 6dof 3x3 UPU SP in order to reach maximum workspace satisfying small condition numbers.
The radius of mobile and base platforms and the lengths of the legs used in the platform are chosen as kinematic parameters to be optimized in a multiobjective optimization problem.
Optimization is performed at different stages and the number of optimized kinematic parameters is increased at each level.
In conclusion, optimizing selected kinematic parameters at once by using SQP technique presents the best results for the PRS.
American Psychological Association (APA)
Eryılmaz, Cenk& Omurlu, V. E.. 2019. SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace. Journal of Robotics،Vol. 2019, no. 2019, pp.1-14.
https://search.emarefa.net/detail/BIM-1186951
Modern Language Association (MLA)
Eryılmaz, Cenk& Omurlu, V. E.. SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace. Journal of Robotics No. 2019 (2019), pp.1-14.
https://search.emarefa.net/detail/BIM-1186951
American Medical Association (AMA)
Eryılmaz, Cenk& Omurlu, V. E.. SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace. Journal of Robotics. 2019. Vol. 2019, no. 2019, pp.1-14.
https://search.emarefa.net/detail/BIM-1186951
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186951