Synthèse de manipulateurs parallèles isotropes de topologie Star par algorithmes génétiques
Abstract (summary)
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.)