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Dimensional Synthesis and Performance Evaluation of Four Translational Parallel Manipulators

Published online by Cambridge University Press:  22 June 2020

I. Ben Hamida,
M. A. LaribiOpen the ORCID record for M. A. Laribi[Opens in a new window],
A. Mlika,
L. Romdhane and
S. Zeghloul
I. Ben Hamida
Affiliation:
Department of GMSC, Pprime Institute, CNRS, University of Poitiers, ENSMA, UPR 3346, France. E-mails: ines.ben.hamida@univ-poitiers.fr, said.zeghloul@univ-poitiers.frMechanical Laboratory of Sousse, National Engineering School of Sousse, University of Sousse, Tunisia. E-mails: abdelfattah.mlika@eniso.u-sousse.tn, lotfi.romdhane@gmail.com, lromdhane@aus.edu
M. A. Laribi*
Affiliation:
Department of GMSC, Pprime Institute, CNRS, University of Poitiers, ENSMA, UPR 3346, France. E-mails: ines.ben.hamida@univ-poitiers.fr, said.zeghloul@univ-poitiers.fr
A. Mlika
Affiliation:
Mechanical Laboratory of Sousse, National Engineering School of Sousse, University of Sousse, Tunisia. E-mails: abdelfattah.mlika@eniso.u-sousse.tn, lotfi.romdhane@gmail.com, lromdhane@aus.edu
L. Romdhane
Affiliation:
Mechanical Laboratory of Sousse, National Engineering School of Sousse, University of Sousse, Tunisia. E-mails: abdelfattah.mlika@eniso.u-sousse.tn, lotfi.romdhane@gmail.com, lromdhane@aus.eduDepartment of Mechanical Engineering, American University of Sharjah, PO Box 26666 Sharjah, UAE
S. Zeghloul
Affiliation:
Department of GMSC, Pprime Institute, CNRS, University of Poitiers, ENSMA, UPR 3346, France. E-mails: ines.ben.hamida@univ-poitiers.fr, said.zeghloul@univ-poitiers.fr
*
*Corresponding author. E-mail: med.amine.laribi@univ-poitiers.fr
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Summary

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The optimum selection of a structure for a given application is a capital phase in typological synthesis of parallel robots. To help in this selection, this paper presents a performance evaluation of four translational parallel robots: Delta, 3-UPU, Romdhane-Affi-Fayet, and Tri-pyramid (TP). The problem is set as a multiobjective optimization using genetic algorithm methods, which uses kinematic criteria, that is, global dexterity and compactness, to ensure a prescribed workspace. The results are presented as Pareto fronts, which are used to compare the performances of the aforementioned structures. The obtained results show that the TP robot has the best kinematic performance, whereas the 3-UPU robot is the most compact for a given prescribed workspace.

Keywords

Dimensional synthesisCompactnessDexterityGenetic algorithm

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 2 , February 2021, pp. 233 - 249
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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