Optimal dimensional design of parallel manipulators with an illustrative case study: A review - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Mechanism and Machine Theory Year : 2023

Optimal dimensional design of parallel manipulators with an illustrative case study: A review

Ridha Kelaiaia
Allaoua Brahmia
  • Function : Author
  • PersonId : 1100736
Adlen Kerboua
  • Function : Author
  • PersonId : 1255740
Abdelouahab Zaatri
  • Function : Author
  • PersonId : 1255741

Abstract

Optimal dimensioning is a fundamental problem in the design of Parallel Manipulators (PMs). However, this problem is revealed to be very hard to solve because many PM performance criteria are antagonistic. In addition, the required technical specifications can be difficult to obtain because they are usually dependent on the end-effector posture and the task to be performed. In this paper, we present an overview of the different approaches used in the optimal design of PMs, as well as the main difficulties encountered. Technical solutions are proposed to solve the problem of optimal dimensional design of PMs. In addition, a seven-stage optimal design methodology for PMs is proposed. Finally, we present an illustrative application of the methodology developed for a 5R parallel manipulator with two degrees of freedom.
Fichier principal
Vignette du fichier
Article_Kelaiaia_R3.pdf (5.29 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

lirmm-04099672 , version 1 (17-05-2023)

Identifiers

Cite

Ridha Kelaiaia, Ahmed Chemori, Allaoua Brahmia, Adlen Kerboua, Abdelouahab Zaatri, et al.. Optimal dimensional design of parallel manipulators with an illustrative case study: A review. Mechanism and Machine Theory, 2023, 188, pp.105390. ⟨10.1016/j.mechmachtheory.2023.105390⟩. ⟨lirmm-04099672⟩
26 View
107 Download

Altmetric

Share

Gmail Facebook X LinkedIn More