Machine Tool Design Optimization of High Resolution Parallel Hexapod in Cartesian Workspace
Publish place: International Journal of Advanced Design and Manufacturing Technology، Vol: 4، Issue: 3
Publish Year: 1390
نوع سند: مقاله ژورنالی
زبان: English
View: 161
This Paper With 10 Page And PDF Format Ready To Download
- Certificate
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
JR_ADMTL-4-3_008
تاریخ نمایه سازی: 13 اردیبهشت 1400
Abstract:
In the research, six degrees of freedom Hexapod parallel machine tool is studied and investigated. Jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on Jacobian matrix. Geometric parameters of Cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, and implementing Genetic Algorithm in MATLAB software workspace. For the manipulator workspace, isotropy indices, minimum and maximum singular values are calculated. The optimization operation has lead to two different designs of manipulators, namely the isotropic design, and high resolution Cartesian workspace.