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Robotics 2018, 7(2), 30; https://doi.org/10.3390/robotics7020030

Optimal Kinematic Design of a 6-UCU Kind Gough-Stewart Platform with a Guaranteed Given Accuracy

School of Mechanical Engineering, Hunan Institute of Science and Technology, Yueyang 414006, China
Received: 24 April 2018 / Revised: 11 June 2018 / Accepted: 15 June 2018 / Published: 18 June 2018
(This article belongs to the Special Issue Kinematics and Robot Design)
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Abstract

The 6-UCU (U-universal joint; C-cylinder joint) kind Gough-Stewart platform is extensively employed in motion simulators due to its high accuracy, large payload, and high-speed capability. However, because of the manufacturing and assembling errors, the real geometry may be different from the nominal one. In the design process of the high-accuracy Gough-Stewart platform, one needs to consider these errors. The purpose of this paper is to propose an optimal design method for the 6-UCU kind Gough-Stewart platform with a guaranteed given accuracy. Accuracy analysis of the 6-UCU kind Gough-Stewart platform is presented by considering the limb length errors and joint position errors. An optimal design method is proposed by using a multi-objective evolutionary algorithm, the non-dominated sorting genetic algorithm II (NSGA-II). A set of Pareto-optimal parameters was found by applying the proposed optimal design method. An engineering design case was studied to verify the effectiveness of the proposed method. View Full-Text
Keywords: accuracy analysis; optimal design; multi-objective evolutionary algorithms; NSGA-II; 6-UCU kind Gough-Stewart platform accuracy analysis; optimal design; multi-objective evolutionary algorithms; NSGA-II; 6-UCU kind Gough-Stewart platform
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Liu, G. Optimal Kinematic Design of a 6-UCU Kind Gough-Stewart Platform with a Guaranteed Given Accuracy. Robotics 2018, 7, 30.

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