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Contribution to the optimization of closed-loop multibody systems : application to parallel manipulators
Collard, Jean-François; Fisette, Paul; Duysinx, Pierre
2003In Proceedings of the 5th World Congress of Structural and Multidisciplinary Optimization WCSMO5
 

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Keywords :
design optimization; penalty; closed-loop multibody systems; parallel manipulators
Abstract :
[en] This paper describes an original and robust method to optimize the design of closed-loop mechanisms, especially parallel manipulators. In other words, these mechanisms include assembling constraints we solved using a Newton-Raphson algorithm which may fail when the Jacobian matrix of the constraints is ill-conditioned. Therefore, the technique we propose takes advantage of that conditioning to penalize properly the objective function. Applications are shown: on the one hand, a simple example about the design of a planar ejector and, on the other hand, more realistic examples about the kinematical properties of parallel robots, in particular Delta-type and HexaSlide-type manipulators.
Disciplines :
Mechanical engineering
Author, co-author :
Collard, Jean-François
Fisette, Paul
Duysinx, Pierre  ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Ingénierie des véhicules terrestres
Language :
English
Title :
Contribution to the optimization of closed-loop multibody systems : application to parallel manipulators
Publication date :
May 2003
Event name :
5th World Congress of Structural and Multidisciplinary Optimization WCSMO5
Event organizer :
C. Cinquini
Event place :
Lido di Jesolo, Italy
Event date :
May 18-25, 2003
Audience :
International
Main work title :
Proceedings of the 5th World Congress of Structural and Multidisciplinary Optimization WCSMO5
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