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Comparative Study of Design of a 3-DOF Translational Parallel Manipulator with Prescribed Workspace

  • I. Ben Hamida
  • M. A. Laribi
  • A. Mlika
  • L. Romdhane
  • S. Zeghloul
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

In this paper, a comparative study is performed between a deterministic and a robust optimization methods, for the design of a translational parallel robot with a prescribed workspace. The optimization is defined in each case as a multi-objective formulation problem. The deterministic formulation is proposed to maximize the robot’s compactness as well as its dexterity. For the robust formulation, it is proposed to combine two methods, i.e., Genetic Algorithms and Monte Carlo methods, where the previous two objective functions were optimized along with their two standard deviations. A sensitivity analysis is then performed on each of the cases to evaluate the impact of the uncertainties on the design parameters on robustness of the obtained optimal solution. These two optimization methods are applied to optimize a 3-DOF parallel manipulator called Tri-pyramid.

Keywords

deterministic optimization robust optimization dexterity work-space translational parallel robot 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • I. Ben Hamida
    • 1
    • 2
  • M. A. Laribi
    • 2
  • A. Mlika
    • 1
  • L. Romdhane
    • 1
    • 3
  • S. Zeghloul
    • 2
  1. 1.Laboratoire de MécaniqueUniversité de Sousse- Ecole Nationale d’Ingénieurs de SousseSousseTunisie
  2. 2.Institut PPRIME, UPR 3346CNRS – Université de Poitiers – ENSMA‎PoitiersFrance
  3. 3.Department of Mechanical EngineeringAmerican University of SharjahSharjahUAE

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