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Some investigations into the optimal dimensional synthesis of parallel robots

Abstract : In this paper, we will perform a comparison between two approaches of dimensional synthesis of parallel robots. The first one concerns the single-objective optimization approach; in this case, the dimensional synthesis is expressed by taking into account only one performance criterion but enables to get a final solution if it exists. The second one concerns the multi-objective optimization approach; it enables to simultaneously take into account several performance criteria. However, this approach appears to provide a set of solutions instead of a single expected final solution which should directly enable to carry out the structural synthesis. In fact, the search of a single final solution is postponed to a further step where the designers have to impose and/or restrict certain parameters. And we will establish if it is really necessary to make a multi-objective optimization approach or if a single-objective is sufficient to reach the objectives set in the specifications (user requirements). A discussion is proposed concerning the arising questions related to each approach and leading to the optimal dimensional synthesis. The PAR2 robot with two degree-of-freedom is used to exemplify the analysis and the comparison of the two approaches. The proposed comparison can be applied to any classes of parallel robots.
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Submitted on : Wednesday, February 17, 2016 - 12:24:19 PM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM




Ridha Kelaiaia, Abdelouahab Zaatri, Olivier Company, Lotfi Chikh. Some investigations into the optimal dimensional synthesis of parallel robots. International Journal of Advanced Manufacturing Technology, Springer Verlag, 2016, 83 (9-12), pp.1525-1538. ⟨10.1007/s00170-015-7611-3⟩. ⟨lirmm-01275330⟩



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