Narzędzia help

Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
first previous next last
cannonical link button


Bulletin of the Polish Academy of Sciences. Technical Sciences

Tytuł artykułu

Multi criteria optimum design of manipulators

Autorzy Ceccarelli, M.  Carbone, G.  Ottaviano, E. 
Treść / Zawartość
Warianty tytułu
Języki publikacji EN
EN A suitable use of software packages for optimization problems can give the possibility to formulate design problems of robotic mechanical systems by taking into account the several aspects and behaviours for optimum solutions both in design and operation. However, an important issue that can be even critical to obtain practical solutions can be recognized in a proper identification and formulation of criteria for optimability purposes and numerical convergence feasibility. In this paper, we have reported experiences that have been developed at LARM in Cassino by referring to the abovementioned issues of determining a design procedure for manipulators both of serial and parallel architectures. The optimality criteria are focused on the well-recognized main aspects of workspace, singularity, and stiffness. Computational aspects are discussed to ensure numerical convergence to solutions that can be also of practical applications. In particular, optimality . criteria and computational aspects have been elaborated by taking into account the peculiarity and constraint of each other. The general concepts and formulations are illustrated by referring to specific numerical examples with satisfactory results.
Słowa kluczowe
EN robotics   manipulators   performance criteria   optimum design  
Wydawca Polska Akademia Nauk, Wydział IV Nauk Technicznych
Czasopismo Bulletin of the Polish Academy of Sciences. Technical Sciences
Rocznik 2005
Tom Vol. 53, nr 1
Strony 9--18
Opis fizyczny Bibliogr. 31 poz., 11 rys., 4 tab.
autor Ceccarelli, M.
autor Carbone, G.
autor Ottaviano, E.
  • LARM: Laboratory of Robotics and Mechatronics DiMSAT - University of Cassino Via G. Di Biasio 43,03043 Cassino (Fr), Italy.,
[1] B.E. Shimano and B. Roth, “Dimensional synthesis of manipulators”, 3rd RoManSy, pp. 166–187 (1980).
[2] B. Roth, “Analytical design of open chains”, 3rd International Symposium on Robotics Research, MIT Press, pp. 281–288 (1986).
[3] R. Vijaykumar, K.J. Waldron and M.J. Tsai, “Geometric optimization of serial chain manipulator structures for working volume and dexterity”, The International Journal of Robotics Research 5 (2), 91–103 (1986).
[4] C. Gosselin and J. Angeles, “The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator”, ASME Journal of Mechanisms, Transmissions, and Automation in Design 110, 35–41 (1988).
[5] B. Paden and S. Sastry, “Optimal kinematic design of 6R manipulators”, The International Journal of Robotics Research 7 (2), 43–61 (1988).
[6] S. Manoochehri and A.A. Seireg, “A computer-based methodology for the form synthesis and optimal design of robot manipulators”, Journal of Mechanical Design 112, 501–508 (1990).
[7] C. M. Gosselin, “The optimum design of robotic manipulators using dexterity indices”, Robotics and Autonomous Systems 9, 213–226 (1992).
[8] F.C. Park, “Optimal robot design and differential geometry”, Transaction ASME, Special 50th Anniversary Design Issue 117, 87–92 (1995).
[9] J.A. Carretero, R.P. Podhorodeski, M.A. Nahon and C.M. Gosselin, “Kinematic analysis and optimization of a new three degree-of freedom spatial parallel manipulator”, ASME Journal of Mechanical Design 122 (1), 17–24 (2000).
[10] X.-J. Liu, Z.-L. Jin and F. Gao, “Optimum design of 3-dof spherical parallel manipulators with respect to the conditioning and stiffness indices”, Mechanism and Machine Theory 35 (9), 1257–1267 (2000).
[11] J. Angeles, “The robust design of parallel manipulators”, 1st International Colloquium Collaborative Research Center 562, Braunschweig, pp. 9–30 (2002).
[12] M. Ceccarelli, “Optimal design and location of manipulators”, in: Computational Dynamics in Multibody Systems, M.F.O.S. Pereira and J.A.C. Ambrosio (eds), Kluwer, Dordrecht, pp. 131–146 (1995).
[13] M. Ceccarelli, “A formulation for the workspace boundary of general n-revolute manipulators”, IFToMM Journal Mechanism and Machine Theory 31, 637–646 (1996).
[14] M. Ceccarelli, “An analytical design of telescopic manipulator arms for prescribed workspace”, Advances in Robot Kinematics: Analysis and Control, Kluwer, Dordrecht, pp. 247–254 (1998).
[15] M. Ceccarelli, “Designing two-revolute manipulators for prescribed feasible workspace regions”, ASME Journal of Mechanical Design 124, 427–434 (2002).
[16] M. Ceccarelli and G. Scaramuzza, “Analytical constraints for a workspace design of 2R manipulators”, Computational Kinematics ’95, J.P. Merlet and B. Ravani (eds), Kluwer, Dordrecht, pp. 173–182 (1995).
[17] M. Ceccarelli and G. Carbone, “A stiffness analysis for CaPaMan (Cassino Parallel Manipulator)”, Mechanism and Machine Theory 37 (5), 427-439 (2002).
[18] A.V. Mata and M. Ceccarelli, "Funciones objectivo para la optimizaciòn de la cadena cinemàtica de robots”, 1± Congreso Iberoamericano de Engeneria Mecanica, Madrid 3, 47–54 (1993), (in Spanish).
[19] M. Ceccarelli, “A synthesis algorithm for three-revolute manipulators by using an algebraic formulation of workspace boundary”, ASME Journal of Mechanical Design 117, 298–302 (1995).
[20] M. Ceccarelli, “Workspace analysis and design of open chain manipulators”, Computing Anticipatory Systems, Dubois D.M. (ed.), American Institute of Phyiscs, New York, pp. 338–355 (1998).
[21] E. Ottaviano and M. Ceccarelli, “Optimal design of CaPa-Man (Cassino Parallel Manipulator) with prescribed position and orientation workspace”, 9th International Conference on Control and Automation, Dubrovnik, Paper No. Med01-009 (2001).
[22] E. Ottaviano and M. Ceccarelli, “Optimum design of parallel manipulators for workspace and singularity performances”, Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, pp. 98–105. (2002)
[23] C. Lanni, S.F.P. Saramago and M. Ceccarelli, “Optimal design of 3R manipulators by using classical techniques and simulated annealing”, Journal of the Brazilian Society for Mechanical Sciences XXIV, pp. 294–302 (2002).
[24] M. Ceccarelli and C. Lanni, “A multi-objective optimum design of general 3R manipulators for prescribed workspace limits”, Mechanism and Machine Theory 39 (2), 119–132 (2004).
[25] E. Ottaviano and G. Carbone “A procedure for the multiobjective design of parallel manipulators”, 1 2th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD 2003, Cassino, CD Proceedings, Paper 061RAAD03 (2003).
[26] M. Ceccarelli, Fundamentals of Mechanics of Robotic Manipulation, Kluwer, Dordrecht 2004.
[27] LARM webpage,, (2004).
[28] G. Vanderplaats, Numerical Optimization Techniques for Engineers Design, McGraw-Hill, New York, 1984.
[29] A. Grace, Optimization Toolbox User’s Guide, The Matlab Works Inc. 1992
[30] E. Ottaviano and M. Ceccarelli, “Optimal design of Ca-PaMan (Cassino Parallel Manipulator) with prescribed workspace”, IFToMM Electronic Journal Computational Kinematics EJCK 1 (1), Comp. Kin. CK2001, Seoul, 35–44 (2002)
[31] M. Ceccarelli “A stiffness analysis for CaPaMan (Cassino Parallel Manipulator)”, Proc. of Conference on New Machine Concepts for Handling and Manufacturing Devices on the Basis of Parallel Structures, VDI 1427, Braunschweig, pp. 67–80 (1998).
Kolekcja BazTech
Identyfikator YADDA bwmeta1.element.baztech-article-BPG5-0005-0033