SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace
The determination of kinematic parameters for a parallel robotic system (PRS) is an important and a critical phase to maximize reachable workspace while avoiding singular configurations. Stewart Platform (SP) mechanism is one of the widely known PRS and it is used to demonstrate the proposed techniq...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2019/3928705 |
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| author | Cenk Eryılmaz V. E. Omurlu |
| author_facet | Cenk Eryılmaz V. E. Omurlu |
| author_sort | Cenk Eryılmaz |
| collection | DOAJ |
| description | The determination of kinematic parameters for a parallel robotic system (PRS) is an important and a critical phase to maximize reachable workspace while avoiding singular configurations. Stewart Platform (SP) mechanism is one of the widely known PRS and it is used to demonstrate the proposed technique. In the related literature, GCI (Global Condition Index) and LCI (Local Condition Index) are the commonly used performance indexes which give a measure about the dexterity of a mechanism. In this work, Sequential Quadratic Programming (SQP) method is used to optimize kinematic parameters of a 6dof 3x3 UPU SP in order to reach maximum workspace satisfying small condition numbers. The radius of mobile and base platforms and the lengths of the legs used in the platform are chosen as kinematic parameters to be optimized in a multiobjective optimization problem. Optimization is performed at different stages and the number of optimized kinematic parameters is increased at each level. In conclusion, optimizing selected kinematic parameters at once by using SQP technique presents the best results for the PRS. |
| format | Article |
| id | doaj-art-dae12ef790b5475c83aa6cd4d53cdf99 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-dae12ef790b5475c83aa6cd4d53cdf992025-08-20T03:24:25ZengWileyJournal of Robotics1687-96001687-96192019-01-01201910.1155/2019/39287053928705SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable WorkspaceCenk Eryılmaz0V. E. Omurlu1Technology Transfer and Commercialization, TUBITAK BILGEM P.K., 74, Gebze, 41470 Kocaeli, TurkeyDepartment of Mechatronic Engineering, Yildiz Technical University, 34349 Istanbul, TurkeyThe determination of kinematic parameters for a parallel robotic system (PRS) is an important and a critical phase to maximize reachable workspace while avoiding singular configurations. Stewart Platform (SP) mechanism is one of the widely known PRS and it is used to demonstrate the proposed technique. In the related literature, GCI (Global Condition Index) and LCI (Local Condition Index) are the commonly used performance indexes which give a measure about the dexterity of a mechanism. In this work, Sequential Quadratic Programming (SQP) method is used to optimize kinematic parameters of a 6dof 3x3 UPU SP in order to reach maximum workspace satisfying small condition numbers. The radius of mobile and base platforms and the lengths of the legs used in the platform are chosen as kinematic parameters to be optimized in a multiobjective optimization problem. Optimization is performed at different stages and the number of optimized kinematic parameters is increased at each level. In conclusion, optimizing selected kinematic parameters at once by using SQP technique presents the best results for the PRS.http://dx.doi.org/10.1155/2019/3928705 |
| spellingShingle | Cenk Eryılmaz V. E. Omurlu SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace Journal of Robotics |
| title | SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace |
| title_full | SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace |
| title_fullStr | SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace |
| title_full_unstemmed | SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace |
| title_short | SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace |
| title_sort | sqp optimization of 6dof 3x3 upu parallel robotic system for singularity free and maximized reachable workspace |
| url | http://dx.doi.org/10.1155/2019/3928705 |
| work_keys_str_mv | AT cenkeryılmaz sqpoptimizationof6dof3x3upuparallelroboticsystemforsingularityfreeandmaximizedreachableworkspace AT veomurlu sqpoptimizationof6dof3x3upuparallelroboticsystemforsingularityfreeandmaximizedreachableworkspace |