Geometrical Optimization of Parallel Mechanisms Based on Natural Frequency Evaluation: Application to a Spherical Mechanism for Future Space Applications

This paper presents an optimization procedure conceived to design parallel mechanisms (PMs) with legs of constant and/or variable length connected, at their endpoints, to a fixed base and a movable platform through universal and spherical joints, respectively. In the proposed procedure, the first na...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics 2009-02, Vol.25 (1), p.12-24
Main Authors: Menon, C., Vertechy, R., Markot, M.C., Parenti-Castelli, V.
Format: Article
Language:English
Subjects:
Applied sciences
Case studies
Computer science
control theory
systems
Control theory. Systems
Cross sections
Density
Design
Design optimization
Devices
Drives
Eigenvalues and eigenfunctions
Exact sciences and technology
Forward contracts
Frequency
Geometry
Kinematics
Leg
Legs
Linkage mechanisms, cams
Mechanical engineering. Machine design
Natural frequencies
Optimization
parallel mechanisms (PMs)
Payloads
Performance analysis
Platforms
Resonant frequency
Robotics
Robots
Space applications
Space missions
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents an optimization procedure conceived to design parallel mechanisms (PMs) with legs of constant and/or variable length connected, at their endpoints, to a fixed base and a movable platform through universal and spherical joints, respectively. In the proposed procedure, the first natural frequency of the mechanism is the objective function to be maximized. The optimization problem is formulated by using dimensionless variables in order to identify the optimal geometry independently of mechanism size, platform density, and leg cross-sectional area and material. As a case study, the procedure is employed to find the optimal geometry of a 2-DOF spherical PM to be used as an orienting device in future space missions.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2008.2008744