Some investigations into the optimal dimensional synthesis of parallel robots

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dc.contributor.authorKelaiaia, Ridha
dc.contributor.authorZaatri, Abdelouahab
dc.contributor.authorCompany, Olivier
dc.contributor.authorChikh, Lotfi
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T12:07:14Z
dc.date.available2024-07-24T12:07:14Z
dc.date.issued2016-04-01
dc.descriptionPublisher Copyright: © 2015, Springer-Verlag London.
dc.description.abstractIn 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.en
dc.description.statusPeer reviewed
dc.format.extent14
dc.identifier.citationKelaiaia , R , Zaatri , A , Company , O & Chikh , L 2016 , ' Some investigations into the optimal dimensional synthesis of parallel robots ' , International Journal of Advanced Manufacturing Technology , vol. 83 , no. 9-12 , pp. 1525-1538 . https://doi.org/10.1007/s00170-015-7611-3
dc.identifier.doi10.1007/s00170-015-7611-3
dc.identifier.issn0268-3768
dc.identifier.urihttps://hdl.handle.net/11556/3745
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=84939220163&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofInternational Journal of Advanced Manufacturing Technology
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsCriteria of performance
dc.subject.keywordsDimensional synthesis
dc.subject.keywordsGenetic algorithm NSGA-II
dc.subject.keywordsMulti-objective optimization
dc.subject.keywordsPAR2 robot
dc.subject.keywordsSingle-objective optimization
dc.subject.keywordsSQP
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsSoftware
dc.subject.keywordsMechanical Engineering
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsIndustrial and Manufacturing Engineering
dc.titleSome investigations into the optimal dimensional synthesis of parallel robotsen
dc.typejournal article
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