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RESEARCH PAPERS

Synthesis of Planar Parallel Mechanisms While Considering Workspace, Dexterity, Stiffness and Singularity Avoidance

[+] Author and Article Information
Marc Arsenault

 Université de Moncton, Moncton, New-Brunswick, Canada E1A 3E9marc.arsenault.1@ulaval.ca

Roger Boudreau1

 Université de Moncton, Moncton, New-Brunswick, Canada E1A 3E9boudrer@umoncton.ca

1

Corresponding author.

J. Mech. Des 128(1), 69-78 (Apr 12, 2005) (10 pages) doi:10.1115/1.2121747 History: Received August 23, 2004; Revised April 05, 2005; Accepted April 12, 2005

It is a generally well-known fact that the design of parallel mechanisms while optimizing performance is quite difficult. In this paper, a reliable synthesis method capable of optimally selecting the geometrical parameters of planar parallel mechanisms is presented. Three different architectures are considered and a genetic algorithm is used to perform the optimization. The performance of each mechanism is evaluated according to four different criteria: workspace, singular configurations, dexterity, and stiffness. In order to make the synthesis method as realistic as possible, mechanical constraints affecting the angular rotation of the 2-RP̱R and 3-RP̱R mechanisms’ passive revolute joints are considered. Moreover, since the conventional methods for computing the dexterity and the stiffness index are not valid for the 3-RP̱R and 3-ṞRR mechanisms, an alternative computation method is used.

FIGURES IN THIS ARTICLE
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Copyright © 2006 by American Society of Mechanical Engineers
Topics: Mechanisms , Stiffness
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Figures

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Figure 1

Diagram of a general 2-RP̱R mechanism

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Figure 2

Diagram of a general 3-RP̱R mechanism

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Figure 3

Diagram of a general 3-ṞRR mechanism

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Figure 4

Prescribed and actual workspaces with identification of the regions

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Figure 5

Example of the singularity curves for all eight working modes of a3-ṞRR mechanism

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Figure 6

Example of a 2-RP̱R mechanism optimized according to α,S, and ηD

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Figure 7

Example of a 3-RP̱R mechanism optimized according to α, and S

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Figure 8

Box plot of α for 3-RP̱R mechanisms optimized using different criteria

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Figure 9

Box plot of ηD for 3-RP̱R mechanisms optimized using different criteria

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Figure 10

Example of a 3-RP̱R mechanism optimized according to α,S, and KX

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Figure 11

Example of a 3-RP̱R mechanism optimized according to α,S, and Kϕ

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Figure 12

Example of a 3-ṞRR mechanism optimized according to α and S

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Figure 13

Example of a 3-ṞRR mechanism optimized according to α and S with ϕ=30deg

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Figure 14

Example of a 3-RP̱R mechanism optimized according to α and S for−30⩽ϕ⩽30deg

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