Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg

2018 ◽  
Vol 120 ◽  
pp. 192-202 ◽  
Author(s):  
Matteo Russo ◽  
Saioa Herrero ◽  
Oscar Altuzarra ◽  
Marco Ceccarelli
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Robotic Leg

Multi-Objective Optimization of a 2-DoF Purely Translational Parallel Manipulator

2011 ◽  
Vol 317-319 ◽  
pp. 794-798
Author(s):  
Zhi Bin Li ◽  
Yun Jiang Lou ◽  
Yong Sheng Zhang ◽  
Ze Xiang Li
Keyword(s):  
Genetic Algorithm ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Pareto Front ◽  
Parallel Robot ◽  
Objective Functions ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Evolution Algorithm

The paper addresses the multi-objective optimization of a 2-DoF purely translational parallel manipulator. The kinematic analysis of the Proposed T2 parallel robot is introduced briefly. The objective functions are optimized simultaneously to improve Regular workspace Share (RWS) and Global Conditioning Index (GCI). A Multi-Objective Evolution Algorithm (MOEA) based on the Control Elitist Non-dominated Sorting Genetic Algorithm (controlled ENSGA-II) is used to find the Pareto front. The optimization results show that this method is efficient. The parallel manipulator prototype is also exhibited here.

Multi-objective Optimization on Dynamic Performance for a Planar Parallel Mechanism with NSGA-II Algorithm

ROBOT ◽  
2010 ◽  
Vol 32 (2) ◽  
pp. 271-277 ◽  
Author(s):  
Minxiu KONG ◽  
Lin CHEN ◽  
Zhijiang DU ◽  
Lining SUN
Keyword(s):  
Parallel Mechanism ◽  
Dynamic Performance ◽  
Multi Objective Optimization ◽  
Nsga Ii ◽  
Multi Objective

Kinematic analysis and multi-objective optimization of a new reconfigurable parallel mechanism with high stiffness

Robotica ◽  
2017 ◽  
Vol 36 (2) ◽  
pp. 187-203 ◽  
Author(s):  
Guanyu Huang ◽  
Sheng Guo ◽  
Dan Zhang ◽  
Haibo Qu ◽  
Hongyan Tang
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Pareto Frontier ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Reachable Workspace ◽  
Performance Indexes ◽  
Stiffness Model ◽  
Reconfigurable Machine Tool

SUMMARYThis paper presents a novel reconfigurable parallel mechanism, which can serve as a machine tool. The proposed parallel mechanism can change its structure parameters by driving a bevel gear system fixed in the base platform. First, the forward and inverse kinematics of the proposed mechanism are investigated. Second, the reachable workspace and Jacobian matrix are conducted. Based on the Jacobian matrix, the stiffness model and dexterity of the end effector are developed in detail. Finally, a multi-objective optimization is performed by using the Genetic Algorithm, and the workspace and global performance indexes of stiffness as well as the dexterity are considered as the performance indices to improve the performance of the reconfigurable parallel mechanism. Finally, Pareto frontier figure and several tables are provided to illustrate the results of the optimization. The results showed the proposed method has improved the performance of the reconfigurable machine tool in terms of its stiffness and dexterity.

Synchronous R-NSGA-II: An Extended Preference-Based Evolutionary Algorithm for Multi-Objective Optimization

Informatica ◽  
2015 ◽  
Vol 26 (1) ◽  
pp. 33-50 ◽  
Author(s):  
Ernestas Filatovas ◽  
Olga Kurasova ◽  
Karthik Sindhya
Keyword(s):  
Evolutionary Algorithm ◽  
Multi Objective Optimization ◽  
Nsga Ii ◽  
Multi Objective
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