Multi-objective design optimisation of a class of PKMS: the 3-DOF Gantry-Tau

Tyapin, Ilya and Hovland, Geir (2010). Multi-objective design optimisation of a class of PKMS: the 3-DOF Gantry-Tau. In: Katalin M. Hangos, Proceedings of the 29th IASTED International Conference on Modelling, Identification and Control, MIC 2010. MIC 2010: 29th IASTED International Conference on Modelling, Identification and Control, Innsbruck, Austria, (255-262). 15-17 February, 2010.

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Name Description MIMEType Size Downloads
Author Tyapin, Ilya
Hovland, Geir
Title of paper Multi-objective design optimisation of a class of PKMS: the 3-DOF Gantry-Tau
Conference name MIC 2010: 29th IASTED International Conference on Modelling, Identification and Control
Conference location Innsbruck, Austria
Conference dates 15-17 February, 2010
Proceedings title Proceedings of the 29th IASTED International Conference on Modelling, Identification and Control, MIC 2010   Check publisher's open access policy
Journal name Modelling, Identification, and Control   Check publisher's open access policy
Place of Publication Calgary, AB, Canada
Publisher ACTA Press
Publication Year 2010
Sub-type Fully published paper
Open Access Status
ISBN 9780889868335
9780889868199
ISSN 1025-8973
Editor Katalin M. Hangos
Start page 255
End page 262
Total pages 8
Language eng
Formatted Abstract/Summary
The main contribution of this paper is the use of the evolutionary multi-objective methodology based on the com plex search algorithm and geometric approaches to optimise a parallel kinematic structure. The design optimisation scheme includes the kinematic (collisions free workspace), elastostatic (Cartesian stiffness in the Y direction) and elastodynamic (first resonance frequency) properties of the PKM as the objectives. The optimisation constraints are the support frame lengths, actuator positions, end-effector’s kinematic parameters and the robot’s arm lengths. The optimisation results are presented in this paper.
Subjects 1706 Computer Science Applications
1712 Software
2611 Modelling and Simulation
Keyword Multi-objective design optimisation
Geometric methods
PKM
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status UQ

 
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