Design Optimisation of a 6-RSS Parallel Manipulator via Surrogate Modelling

9th Thai Society of Mechanical Engineers, International Conference on Mechanical Engineering

Tanakitkorn, Kantapon^1

Faculty of International Maritime Studies, Kasetsart University, Si-Racha Chonburi

20230, Thailand^1

关键词: Computational expense;    Global conditioning indices;    Kinematic performance;    Orientation workspace;    Parallel manipulators;    Performance indices;    Six degrees of freedom;    Surrogate modelling;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/501/1/012020/pdf
DOI  :  10.1088/1757-899X/501/1/012020

来源: IOP

【 摘 要 】

Parallel manipulators are robots with the capability to perform motion up to six degrees of freedom. This work presents a surrogate-based optimisation process for designing a 6-RSS parallel manipulator that is driven by six rotary actuators; the kinematic performance of the manipulator is defined by the volume of the total orientation workspace and the global conditioning index. The surrogate modelling technique was demonstrated by simulation to be highly beneficial in exploring the design landscape thoroughly even for a high-dimensional case with six design variables. Computational expense in the optimisation process was reduced by sequentially searching the surrogate models instead of the original performance indices. One platform geometry with the best compromise between the two contradicting indices was obtained in accordance with the weighted-sum function. Despite the fact that this work considers a small-scale 6-RSS parallel manipulator, the presented surrogate-based optimal design framework is generic and can be applied to different types of manipulators.