TY - GEN
T1 - Optimal design of a 6-DOF motion simulator based on formulating dynamic index
AU - Liu, Guojun
AU - Zheng, Shutao
AU - Liu, Xiaochu
AU - Han, Junwei
PY - 2012
Y1 - 2012
N2 - Gough-Stewart platform (GSP) has been extensively used as motion simulators. In order to get good performance of the motion simulators, the dynamic characteristics are needed to be considered in the design process. This paper established a dynamic dexterity index based on the generalized mass matrix in the joint space, which is invariant under the change of units and has a physical meaning. The dynamic dexterity indexes can also be established in the similar way as other parallel robots with the only pure active joints. In the last, a motion simulator is optimized based on the dynamic dexterity index to satisfy the customer's requirements by using real-coded genetic algorithms.
AB - Gough-Stewart platform (GSP) has been extensively used as motion simulators. In order to get good performance of the motion simulators, the dynamic characteristics are needed to be considered in the design process. This paper established a dynamic dexterity index based on the generalized mass matrix in the joint space, which is invariant under the change of units and has a physical meaning. The dynamic dexterity indexes can also be established in the similar way as other parallel robots with the only pure active joints. In the last, a motion simulator is optimized based on the dynamic dexterity index to satisfy the customer's requirements by using real-coded genetic algorithms.
KW - 6-DOF motion simulator
KW - Condition number
KW - Dynamic dexterity index
KW - Gough-stewart platform
KW - Optimal design
KW - Real-coded genetic algorithms
UR - http://www.scopus.com/inward/record.url?scp=84868377123&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMR.542-543.985
DO - 10.4028/www.scientific.net/AMR.542-543.985
M3 - 会议稿件
AN - SCOPUS:84868377123
SN - 9783037854488
T3 - Advanced Materials Research
SP - 985
EP - 988
BT - Automatic Manufacturing Systems II
T2 - 2nd International Conference on Advanced Engineering Materials and Technology, AEMT 2012
Y2 - 6 July 2012 through 6 July 2012
ER -