WORKSPACE ANALYSIS AND OPTIMIZATION OF THE PARALLEL ROBOTS BASED ON COMPUTER-AIDED DESIGN APPROACH

Badreddine Aboulissane, Larbi El Bakkali, Jalal El Bahaoui
2020 Facta Universitatis. Series: Mechanical Engineering  
This paper provides workspace determination and analysis based on the graphical technique of both spatial and planar parallel manipulators. The computation and analysis of workspaces will be carried out using the parameterization and three-dimensional representation of the workspace. This technique is implemented in CAD (Computer Aided Design) Software CATIA workbenches. In order to determine the workspace of the proposed manipulators, the reachable region by each kinematic chain is created as
more » ... volume/area; afterwards, the full reachable workspace is obtained by the application of a Boolean intersection function on the previously generated volumes/areas. Finally, the relations between the total workspace and the design parameters are simulated, and the Product Engineering Optimizer workbench is used to optimize the design variables in order to obtain a maximized workspace volume. Simulated annealing (SA) and Conjugate Gradient (CG) are considered in this study as optimization tools.
doi:10.22190/fume190428006a fatcat:z2wrj6la4bcz7ef65i3yx4qdha