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http://dx.doi.org/10.5302/J.ICROS.2007.13.6.560

Optimal Design of a 6-DOF Parallel Mechanism using a Genetic Algorithm  

Hwang, Youn-Kwon (현대모비스 기술연구소)
Yoon, Jung-Won (경상대학교기계항공공학부 항공기부품기술연구센터)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.6, 2007 , pp. 560-567 More about this Journal
Abstract
The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.
Keywords
genetic algorithm; fuzzy inference; haptic device; optimal design; parallel manipulator;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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