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The necessity of optimal design for parallel machines and a possible certified methodology

Jean-Pierre Merlet 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : Although they have many advantages in term of positioning accuracy, stiffness, load capacity parallel machines have also a main drawback: their performances are very sensitive to their dimensioning. Hence although the choice of a given mechanical structure among the numerous possibilities that are offered for parallel machines may influence the performances of the machine the rule of thumb is: a mechanically appropriate but poorly dimensioned machine will present in general largely lower performances than a well designed machine with a mechanical architecture a priori less adequate. Optimal dimensioning of a parallel machine is hence a critical issue but also a complex one, especially if uncertainties in the manufacturing are taken into account. We will present a possible design methodology based on interval analysis and will illustrate this methodology on realistic examples.
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Contributor : Jean-Pierre Merlet <>
Submitted on : Saturday, May 7, 2005 - 7:07:42 PM
Last modification on : Thursday, April 5, 2018 - 10:55:37 AM
Long-term archiving on: : Thursday, April 1, 2010 - 9:25:47 PM


  • HAL Id : inria-00000008, version 1



Jean-Pierre Merlet. The necessity of optimal design for parallel machines and a possible certified methodology. Robotic Systems for Handling and Assembly, SFB 562, May 2005, Braunschweig. ⟨inria-00000008⟩



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