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

被引：5

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

页码：31 / 36

页数：6

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