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Inventi Impact: Robotics

Articles

  • Inventi:erb/29028/19
    SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace
    Research 2019 : July - September
    Cenk Eryilmaz, V E Omurlu

    The determination of kinematic parameters for a parallel robotic system (PRS) is an important and a critical phase to maximize\nreachable workspace while avoiding singular configurations. Stewart Platform (SP) mechanism is one of the widely known PRS\nand it is used to demonstrate the proposed technique. In the related literature, GCI (Global Condition Index) and LCI (Local\nCondition Index) are the commonly used performance indexes which give a measure about the dexterity of a mechanism. In this\nwork, Sequential Quadratic Programming (SQP)method is used to optimize kinematic parameters of a 6dof 3x3UPUSP in order to\nreachmaximum workspace satisfying small condition numbers.The radius ofmobile and base platforms and the lengths of the legs\nused in the platform are chosen as kinematic parameters to be optimized in amultiobjective optimization problem.Optimization is\nperformed at different stages and the number of optimized kinematic parameters is increased at each level. In conclusion, optimizing\nselected kinematic parameters at once by using SQP technique presents the best results for the PRS.

    How to Cite this Article
    Attribution/ CC Compliant Citation: Eryilmaz, Cenk, et al; SQP Optimization of 6dof3x3 UPU Parallel Robotic System for Singularity Free\nand Maximized Reachable Workspace; Journal of Robotics 2019(2019).\nhttps://doi.org/10.1155/2019/3928705\nhttp://creativecommons.org/licenses/by/4.0/\nSome formatting elements, header, footer, logos, dates and pagination were modified while adapting this article.
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