Elastodynamic optimization of parallel kinematics

摘要

Parallel kinematic machines have inherent advantages for many applications in the fields of robotics and machine tools. They obtain high dynamic capabilities combined with high accuracy and stiffness. But choosing the optimal mechanism dimensions for the best performance is still a challenging task. Furthermore there are a lot of performance criteria which have to be taken into account and which are pose dependent. The main idea of this paper is to present the fundamentals for a multi-criteria optimization approach for parallel kinematic machines according to given application requirements. Therefore we discuss a large number of performance criteria dealing with workspace, velocity transmission, inertia and stiffness. Finally the main idea of an optimization approach using evolutionary algorithms is shown.