A NEW METHOD FOR OPTIMIZING THE POSITIONS OF STEWART MECHANISM JOINTS FOR INCREASING THE WORKSPACE AND DEXTERITY

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TAHERIFAR A.; NAJAFI E.; NAJAFI F.; HOSSEINALI ARBAB N.

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Journal: JOURNAL OF AEROSPACE SCIENCE AND RESEARCH Year:2009 | Volume:2 | Issue:3 Page(s): 59-62

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Title

A NEW METHOD FOR OPTIMIZING THE POSITIONS OF STEWART MECHANISM JOINTS FOR INCREASING THE WORKSPACE AND DEXTERITY

Author(s)

TAHERIFAR A. | NAJAFI E. | NAJAFI F. | HOSSEINALI ARBAB N. | Issue Writer Certificate

Keywords

OPTIMIZATIONQ2

STEWART MECHANISMQ3

WORKSPACEQ3

DEXTERITYQ3

Abstract

The optimal positions of STEWART MECHANISM joints are obtained using genetic algorithm to maximize the WORKSPACE and to minimize the singularity condition within the WORKSPACE at the same time. The WORKSPACE of STEWART MECHANISM is obtained by a fully geometric method. The volume of WORKSPACE is then calculated with numerical integration. On the other hand, the global DEXTERITY of the WORKSPACE is studied by calculating the condition number at each point inside the WORKSPACE. Since WORKSPACE volume or DEXTERITY is not a suitable design criterion individually, they are combined and a non-dimensional multi-objective cost function is proposed. The suggested cost function involves the ratio of variables to their maximum value. This function is presented as a criterion to reach optimal geometry for different robotic mechanisms. The WORKSPACE and the DEXTERITY simulation results are resented. To make sure that the design requirements are achieved, a static force analysis is performed. It is shown that this OPTIMIZATION method increases WORKSPACE, stiffness, and DEXTERITY at the same time.

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APA: Copy

TAHERIFAR, A., NAJAFI, E., NAJAFI, F., & HOSSEINALI ARBAB, N.. (2009). A NEW METHOD FOR OPTIMIZING THE POSITIONS OF STEWART MECHANISM JOINTS FOR INCREASING THE WORKSPACE AND DEXTERITY. JOURNAL OF AEROSPACE SCIENCE AND RESEARCH, 2(3), 59-62. SID. https://sid.ir/paper/199480/en

Vancouver: Copy

TAHERIFAR A., NAJAFI E., NAJAFI F., HOSSEINALI ARBAB N.. A NEW METHOD FOR OPTIMIZING THE POSITIONS OF STEWART MECHANISM JOINTS FOR INCREASING THE WORKSPACE AND DEXTERITY. JOURNAL OF AEROSPACE SCIENCE AND RESEARCH[Internet]. 2009;2(3):59-62. Available from: https://sid.ir/paper/199480/en

IEEE: Copy

A. TAHERIFAR, E. NAJAFI, F. NAJAFI, and N. HOSSEINALI ARBAB, “A NEW METHOD FOR OPTIMIZING THE POSITIONS OF STEWART MECHANISM JOINTS FOR INCREASING THE WORKSPACE AND DEXTERITY,” JOURNAL OF AEROSPACE SCIENCE AND RESEARCH, vol. 2, no. 3, pp. 59–62, 2009, [Online]. Available: https://sid.ir/paper/199480/en

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