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li q performance analysis optimization parallel manipulators 2023

Type:: E-books
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Size:: 10.5 MB
Uploaded On:: June 5, 2023, 6:34 p.m.
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Info Hash:: 5974ED403E7A29DB6D4FD15113A609D226EBE4F6

Textbook in PDF format This book investigates the performance analysis and optimization design of parallel manipulators in detail. It discusses performance evaluation indices for workspace, kinematic, stiffness, and dynamic performance, single- and multi-objective optimization design methods, and ways to improve optimization design efficiency of parallel manipulators. This book collects the authors’ research results previously scattered in many journals and conference proceedings and presents them in a unified form after the methodical edition. As a result, numerous performance analyses and optimization of parallel manipulators are presented, in which the readers in the robotics community may be greatly interested. More importantly, readers can use the methods and tools introduced in this book to carry out performance evaluation and optimization of parallel manipulators by themselves. The book can provide important reference and guideline for undergraduate and graduate students, engineers, and researchers who are interested in design and application of parallel manipulators. The general approach to the considered problems lies in the fact that robot-related performance indices present scalar functions synthesized from matrix models, and among them, the most important are the Jacobian matrix, stiffness and compliance matrices, and mass matrix separately formulated within the static and dynamic versions. The general specific feature of these matrices is the dimensional inhomogeneity resulting in the absence of matrix eigenvalues. This feature is valid for matrices associated with both parallel- and serial-kinematic mechanisms; thus, this feature allows the application of some results formulated for serial-kinematics robots to be applied to parallel-kinematics robots. Additionally, this is the reason for the widespread application of the matrix determinants when synthesizing performance indices since the determinant presents a unique invariant of a dimensionally inhomogeneous matrix. Introduction Kinematic Performance Analysis and Optimization of Parallel Manipulators Without Actuation Redundancy Motion/Force Transmission Performance Analysis and Optimization of Parallel Manipulators with Actuation Redundancy Motion/Force Constraint Performance Analysis and Optimization of Overconstrained Parallel Manipulators with Actuation Redundancy Elastostatic Stiffness Evaluation and Optimization of Parallel Manipulators A Methodology for Optimal Stiffness Design of Parallel Manipulators Based on the Characteristic Size Multi-objective Optimization of Parallel Manipulators Using Game Algorithm 8 Hybrid Algorithm for Multi-objective Optimization Design of Parallel Мanipulators Sensitivity Analysis and Multi-objective Optimization Design of Parallel Manipulators Multi-objective Optimization Design of Parallel Manipulators Based on the Principal Component Analysis Multi-objective Optimization Design of Parallel Manipulators Based on the Intelligent-Direct Search Algorithm

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Li Q. Performance Analysis and Optimization of Parallel Manipulators 2023.pdf 10.5 MB

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li q performance analysis optimization parallel manipulators 2023

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