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

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Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 317-319)

Pages:

794-798

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.317-319.794

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Online since:

August 2011

Authors:

Zhi Bin Li, Yun Jiang Lou, Yong Sheng Zhang, Ze Xiang Li

Keywords:

Controlled NSGA-II, Gobal Condition Index, Multi-Objective Optimization (MOP), Parallel Manipulator, Regular Workspace Share

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© 2011 Trans Tech Publications Ltd. All Rights Reserved

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