Multiobjective Optimization of 6-DOF Parallel Manipulator for Desired Total Orientation Workspace

A desired total orientation workspace for a parallel manipulator is usually an essential requirement in a practical application. At present, for the multiobjective optimization method of 6-DOF parallel manipulator for desired total orientation workspace, it is needed to predefine maximal and minimal...

Celý popis

Uložené v:
Podrobná bibliografia
Vydané v:Mathematical problems in engineering Ročník 2019; číslo 2019; s. 1 - 10
Hlavní autori: Zhang, Lijie, Ding, Jisong, Wang, Lihang, Qiang, Hongbin
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Cairo, Egypt Hindawi Publishing Corporation 01.01.2019
Hindawi
John Wiley & Sons, Inc
Predmet:
Actuators
Aeronautics
Algorithms
Custom design
Design optimization
Engineering
Genetic algorithms
Kinematics
Legs
Mechanical engineering
Multiple objective analysis
Numerical analysis
Numerical methods
Optimization
Orientation
Parallel degrees of freedom
Parameters
Robotics
Robots
ISSN:1024-123X, 1563-5147
On-line prístup:Získať plný text
Tagy: Pridať tag
Žiadne tagy, Buďte prvý, kto otaguje tento záznam!
Popis
Shrnutí:A desired total orientation workspace for a parallel manipulator is usually an essential requirement in a practical application. At present, for the multiobjective optimization method of 6-DOF parallel manipulator for desired total orientation workspace, it is needed to predefine maximal and minimal lengths of the legs to serve as the constraint, and then the numerical method is used to solve the length of the legs and judge whether the solved maximal and minimal leg lengths meet the constraint. Predefining maximal and minimal length of the legs limits of the optimal range, the numerical method has heavy calculation burden and low calculating accuracy. In this paper, a hybrid method for solving the maximal and minimal lengths of the legs of 6-DOF parallel manipulator with desired total orientation workspace is proposed, and the actuator stroke length is calculated according to the maximal and minimal leg lengths. By judging whether the actuator stroke length can be solved to serve as the constraint, without the predefined maximal and minimal leg lengths to serve as the constraint, the optimal range is enlarged. Aiming at the physical size of the parallel manipulator and the proposed desired workspace condition index (DWCI), the optimization of the geometric parameters of the parallel manipulator is conducted based on the multiobjective optimization algorithm (NSGA-II), which is subject to the actuator stroke length. Stewart platform is set as the example; the geometric parameters of the platform whose workspace contains the desired total orientation workspace are optimized and the hybrid method is proved to be more accurate and efficient compared to the traditional numerical method. This method provides the optimization guidance for engineering designers to design the parallel manipulator for desired total orientation workspace.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1024-123X
1563-5147
DOI:10.1155/2019/5353825