Optimal Design of 6-DOF Parallel Manipulator with Workspace Maximization using a Constrained Differential Evolution

被引：3
|
作者：
Pu, Huayan [1 ]
Cheng, Hao [1 ]
Ma, Jie [1 ]
Yi, Jin [1 ]
Zhao, Jinglei [1 ]
Xie, Zhijiang [1 ]
Wang, Shilong [1 ]
Zhu, Tao [2 ]
Luo, Jun [1 ]
机构：
[1] Chongqing Univ, Coll Mech & Vehicle Engn, Chongqing, Peoples R China
[2] Chongqing Univ, Coll Optoelect Engn, Chongqing, Peoples R China
来源：
2021 6TH IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2021) | 2021年
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Design optimization; Parallel manipulator; Differential Evolution; OPTIMIZATION;
D O I：
10.1109/ICARM52023.2021.9536210
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The applications of parallel robots in various fields are increasing. In this paper, a research on the design optimization of a 6-PSS parallel manipulator for motion simulating is presented. The optimization problem of maximizing the workspace is formulated according to geometric and kinematic analysis. In particular, the workspace is a totally flexible workspace with 6 degrees-of-freedom (DOF). To maximize the workspace of the 6-PSS parallel robot, we investigated the differential evolution algorithm (DE), and the genetic algorithm (GA) is also adopted as a comparison. Computational results show DE algorithm outperforms GA algorithm at about 48.3% in optimal solution providing and 9.3% in time consuming.
引用
收藏
页码：31 / 36
页数：6
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