Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator |
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| Affiliation: | 1. DIISM, Polytechnic University of Marche, Ancona, Italy;2. Department of Mechanical Engineering, McGill University, Montreal, Canada;1. LARM, University of Cassino and Southern Latium, Italy;2. Mechanical Engineering Department, UPV/EHU University of the Basque Country, Spain |
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| Abstract: | This paper deals with the dynamic modeling and design optimization of a three Degree-of-Freedom spherical parallel manipulator. Using the method of Lagrange multipliers, the equations of motion of the manipulator are derived by considering its motion characteristics, namely, all the components rotating about the center of rotation. Using the derived dynamic model, a multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the design optimization of an unlimited-roll spherical parallel manipulator with a main objective to minimize the mechanism mass in order to enhance both kinematic and dynamic performances. |
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| Keywords: | Spherical parallel manipulator Dynamic modeling Multiobjective design optimization Pareto-front Scatter matrix |
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