Design of a Parallel Manipulator Based on Multi-Objective Self-Adaptive Differential Evolution Algorithm

Abstract:

In order to improve highly non-isotropic input-output relations in the optimal design of a parallel robot, this paper presents a method based on a multi-objective self-adaptive differential evolution (MOSaDE) algorithm.The approach considers a solution-diversity mechanism coupled with a memory of those sub-optimal solutions found during the process. In theMOSaDE algorithm, both trial vector generation strategies and their associated control parameter values were gradually self-adapted by learning from their previous experiences in generating promising solutions. Consequently, a more suitable generation strategy along with its parameter settings could be determined adaptively to match different phases of the search processevolution.Furthermore, a constraint-handling mechanism is added to bias the search to the feasible region of the search space. The obtained solution will be a set of optimal geometric parameters and optimal PID control gains. The empirical analysis of thenumerical results shows the efficiency of the proposed algorithm.

• Periodical: Applied Mechanics and Materials (Volume 328)
• Pages: 3-8
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.328.3
• Online since: June 2013
• Authors: Qing Mei Meng
• Keywords: Differential Evolution, Dynamic optimization, Multi-Objective Optimization (MOP), Parallel Manipulator

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