Performance analysis and design of parallel kinematic machines using interval analysis

Abstract : Some design methodologies for Parallel Kinematic Machines (PKM) have been proposed but with limitations regarding two main problems: how to improve multiple properties of different nature such as accuracy, force or singularity poses, and how to check these properties for all poses inside the PKM workspace. To address these problems, this work proposes to formulate the design problem as a feasibility problem and use a data representation which takes into account the uncertainty or variation of the involved parameters. This method, based on interval analysis, allows to evaluate several performance indexes of a PKM design. For validation purposes, this methodology is applied to a PKM, obtaining a continuous set of possible kinematic parameters values for its architecture which is capable of fulfilling several performance requirements over a desired workspace.
Type de document :
Article dans une revue
Mechanism and Machine Theory, Elsevier, 2017, 115, pp.218 - 236. 〈10.1016/j.mechmachtheory.2017.05.003〉
Liste complète des métadonnées

Littérature citée [52 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01669173
Contributeur : David Daney <>
Soumis le : mercredi 20 décembre 2017 - 16:01:33
Dernière modification le : jeudi 4 janvier 2018 - 11:15:40

Fichier

revision2-pkm-design-2.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

David Daney, Carlos Viegas, Mahmoud Tavakoli, Anibal T. De Almeida. Performance analysis and design of parallel kinematic machines using interval analysis. Mechanism and Machine Theory, Elsevier, 2017, 115, pp.218 - 236. 〈10.1016/j.mechmachtheory.2017.05.003〉. 〈hal-01669173〉

Partager

Métriques

Consultations de la notice

78

Téléchargements de fichiers

56