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Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

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Abstract

This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increased-entropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a preexisting base model.

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Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University, Jinju, Korea

    Jung Won Yoon & Yoon-Kwon Hwang

  2. Human-Machine-Computer Interface, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, Korea

    Jeha Ryu

Authors
  1. Jung Won Yoon
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  2. Jeha Ryu
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  3. Yoon-Kwon Hwang
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Corresponding author

Correspondence to Jung Won Yoon.

Additional information

This paper was recommended for publication in revised form by Associate Editor Doo Yong Lee

Jungwon Yoon received the Ph.D in the Department of Mechatronics in 2005 from Gwangju Institute of Science and Technology (GIST). He had worked as a senior researcher in Electronics Telecommunication Research Institute (ETRI), Daejeon, Korea, and a visiting researcher at Virtual Reality Lab, the Rutgers University, U.S.A, from 2001 to 2002. In 2005, he joined the School of Mechanical & Aerospace Engineering, Gyeongsang National University, Jinju, Korea, where he is currently an assistant professor. In 2010–2011, he also joined the Center for Neuroscience and Regenerative Medicine, National Institutes of Health as Visiting Fellow. His research interests include virtual reality haptic devices & locomotion interfaces, and rehabilitation robots.

Jeha Ryu is a professor of the Mechatronics Department at the Gwangju Institute of Science and Technology (GIST). He is the director of national Haptics Technology Research Center. His research interests include haptics, haptic rendering, haptic interaction control, design and control of haptic devices, as well as haptic-included modeling and broadcasting. Ryu received a PhD degree in Mechanical Engineering from the University of Iowa, USA.

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Yoon, J.W., Ryu, J. & Hwang, YK. Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application. J Mech Sci Technol 24, 1151–1162 (2010). https://doi.org/10.1007/s12206-010-0321-8

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  • DOI: https://doi.org/10.1007/s12206-010-0321-8

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