Combined Structure-Control Optimal Design of the Stewart-Gough Robot

• Published in: 2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) pp. 19 - 24
• Main Authors: Lara-Molina, F. A., Koroishi, E. H., Dumur, Didier
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-10-2015
• Subjects: Legged locomotion; mechatronic design; Optimal design; optimization; Parallel Robot; Parallel robots; PD control; Robot kinematics; Robot sensing systems; Sensitivity analysis
• DOI: 10.1109/LARS-SBR.2015.26

This paper aims at introducing an optimal design methodology for the Stewart Platform robot controlled by a PD position controller. This optimal design method intends to maximize the positioning accuracy by using metaheuristic optimization methods. The structure design variables of the mechanism combined with the gains of the controller are the structure-control design variables. The structure-control design variables are considered simultaneously in the optimal design method. A sensitivity analysis is performed to evaluate the effect of the structure-control design variables, especially of structure variables, on the positioning accuracy. Simulation results demonstrate that the proposed design procedure is effective to increase the position accuracy, as well as the closed loop dynamics performance of the robot is improved.