Workspace-based design of parallel manipulators of star topology with a genetic algorithm

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2, Issue , 2001, Pages 177-184

  Baron, Luc ^a  

^a ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

GENETIC ALGORITHMS; KINEMATICS; MACHINE DESIGN; MATHEMATICAL MODELS; MATRIX ALGEBRA; OPTIMIZATION; PROBLEM SOLVING; ROBOTICS; TOPOLOGY; COMPUTER AIDED DESIGN; MANIPULATORS; STARS;

PARALLEL MANIPULATORS; STOCHASTIC OPTIMIZATION TECHNIQUES; ALTERNATIVE DESIGNS; DESIGN PROBLEMS; SEARCH SPACES; STAR TOPOLOGY; WEIGHTED SUM;

MANIPULATORS; GENETIC ALGORITHMS;

EID: 1542645841     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. Baron, L. and Angeles, J., "The Direct Kinematics of Parallel Manipulators Under Joint-Sensor Redundancy", IEEE Trans. on Robotics and Automation, Vol. 16, No. 1, pp. 12-19, 2000.
2. Goldberg, D.E., Genetic Algorithms in Search, Optimization, and Machine Learning, Addison-Wesley, 412 pages, 1989.
3. Hervé, J.M., "Dispositif pour le déplacement en translation spaciale d'un élément dans l'espace, en particulier pour robot mécanique", French Patent No. 9100286, January 1991, European Patent No. 91403521.7, December 1991.
4. Merlet, J.-P., "Estimation efficace des caractéristiques de robots parallèles: Extremums des raideurs et coordonnées, vitesses, forces articulaires et Singularités dans un espace de travail en translation", INRIA report, 46 pages, 1997.
5. Tremblay, A. and Baron, L., "Geometrical Synthesis of Parallel Manipulators of Star-Like Topology with a Genetic Algorithm", Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2446-2451, Detroit, USA, May 1999.
6. Chablat, D., "Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles", Ph.D. These, Université de Nantes, 182 pages, 1998.
7. Salisbury, J.-K. and Craig, J.-J., "Articulated Hands: Force Control and Kinematic Issues", The Int. J. of Robotics Research, Vol. 1, No. 1, pp. 4-17, 1982.