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Synthese de manipulateurs paralleles isotropes de topologie Star par algorithmes genetiques (French text)

Posted on:2004-06-30Degree:M.Sc.AType:Thesis
University:Ecole Polytechnique, Montreal (Canada)Candidate:Bernier, GhislainFull Text:PDF
This thesis presents the geometrical synthesis of parallel manipulators of Star-like topology with a real-coded genetic algorithm. It follows the work of Tremblay and presents an automatic optimization of a 3 degrees of freedom translational parallel manipulator. The studied characteristics are the workspace volume and he dexterity. The thesis is divided in three objectives.; The first objective is to present the geometric parameters necessary to the description of a manipulator. A set of parameters must allow unique and non-redundant description of all manipulators of the Star topological class. A set of 18 such parameters is presented.; The second objective is to introduce a design constrain to reduce the number of parameters. The constrain used is the isotropic condition of both Jacobian matrices at the initial position.; The last objective is to show that real-coded genetic algorithm can be used for the automatic optimization of workspace volume and dexterity.; Results are finally analyzed with the graphical interface and plots are generated by a simulator. Those results show good improvement of the characteristics studied. (Abstract shortened by UMI.)...
Keywords/Search Tags:Real-coded genetic algorithm
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