Kinematic and Dynamic Design Optimisation of a Family of Parallel Manipulators
Speaker: Ilya Tyapin, ITEE
When: 2006-07-28 11:00:00
Venue: 78-420
Host: Geir Hovland
Abstract:In this talk a kinematic optimisation of the Gantry-Tau parallel
manipulator is presented. The reachable workspace has been defined
by a fully geometrical method as a cross-sectional area between
three spheres. In addition, the geometrical method was compared to
the analytical (numerical) method which is based on inverse
kinematics. The geometric approach is better suited for kinematic
optimisation because it significantly saves computational time. A
new method of optimising the workspace volume function is presented,
using a non-linear optimisation routine and imposing the
parameterisation on the midpoints of the three spheres. The main
benefit of the developed method becomes evident for cases which are
too complex for manual design. Finally, an extended kinematic
optimisation of the Gantry-Tau is presented. This extension is
required due to holes or blind zones in the middle of the workspace
caused by long arms and short actuators. These blind zones exist
even if the robot can be reconfigured between the left-hand and
right-hand inverse kinematic solutions and can significantly reduce
the reachable workspace of the PKM. The blind zone (workspace) has
been found by two methods: the geometrical method and inverse
kinematics based method. As for the normal workspace, the geometric
approach significantly saves computational time.
Biography:(biography unavailable)
Type: Ph.D confirmation
Contact:Geir Hovland, seminar host (hovland@itee.uq.edu.au)
or Guido Governatori (ITEE seminar co-ordinator)
(guido@itee.uq.edu.au)