Design optimization of parallel manipulators for high-speed precision machining applications

TL;DR

This paper introduces an integrated design optimization method for parallel manipulators, focusing on workspace and performance indices, demonstrated through case studies on Orthoglide manipulators for high-speed precision machining.

Contribution

It develops a novel optimization technique using workspace grids and dynamic programming to unify constraints and objectives for parallel manipulator design.

Findings

Optimized kinematic and stiffness performances of Orthoglide manipulators.

Demonstrated efficiency of the optimization method in practical case studies.

Enhanced workspace and performance trade-offs for high-speed machining applications.

Abstract

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the non-homogenous design specification, the developed optimization technique transforms all constraints and objectives into similar performance indices related to the maximum size of the prescribed shape workspace. This transformation is based on the dedicated dynamic programming procedures that satisfy computational requirements of modern CAD. Efficiency of the developed technique is demonstrated via two case studies that deal with optimization of the kinematical and stiffness performances for parallel manipulators of the Orthoglide family.