ScholarLens Back to search
2006•2006 SICE-ICASE International Joint ConferenceRequires access

The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace

Yoonkwon Hwang, Jungwon Yoon, Jeha Ryu

Open publisher page 10 citations

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 circle radius of COW and rotation angle of orientation workspace are studied, and an optimized model is proposed as a best model by relative comparison of them on the basis of the pre-existing model

About this research paper

What this paper is about

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 circle radius of COW and rotation angle of orientation workspace are studied, and an optimized model is proposed as a best model by relative comparison of them on the basis of the pre-existing model

Why it matters

OpenAlex reports 10 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available 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 circle radius of COW and rotation angle of orientation workspace are studied, and an optimized model is proposed as a best model by relative comparison of them on the basis of the pre-existing model

Key concepts: Workspace, Euler angles, Orientation (vector space), Kinematics, Rotation (mathematics), Position (finance), Computer science, Boundary (topology)

Related papers

Related paper 1Related paper 2Related paper 3
Back to paper searchBrowse research topicsOriginal source
The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace — Research Paper | ScholarLens