Design Optimization of 2TPS/2TPR Parallel Manipulator Based on GA

Y.M. Wang; H.J. San; L. Jiang

doi:10.4028/www.scientific.net/KEM.568.163

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HomeKey Engineering MaterialsKey Engineering Materials Vol. 568Design Optimization of 2TPS/2TPR Parallel...

Design Optimization of 2TPS/2TPR Parallel Manipulator Based on GA

Abstract:

4-DOF asymmetric parallel manipulator 2TPS /2TPR is researched in this paper. Firstly, the structure of 2TPS /2TPR is described in detail. Optimized design variables and constraints are sure. Then multi-objective optimization is built by flexibility and workspace of structure. Finally, design optimization of 2TPS/2TPR parallel manipulator based on GA. The optimal size combination of 2TPS /2TPR parallel manipulator is got.

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Periodical:

Key Engineering Materials (Volume 568)

Pages:

163-168

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.568.163

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Online since:

July 2013

Authors:

Y.M. Wang, H.J. San, L. Jiang

Keywords:

Full-Jacobian Matrix, Genetic Algorithm (GA), Multi-Objective Optimization (MOP), Parallel Manipulator

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