Robust multi-objective optimization of parallel manipulators

被引：0
作者：
Fabian A. Lara-Molina
Didier Dumur
机构：
[1] Federal University of Technology - Paraná,CNRS, CentraleSuplec, Laboratoire des Signaux et Systèmes
[2] Universit Paris-Saclay,undefined
来源：
Meccanica | 2021年 / 56卷
关键词：
Robust optimization; Parallel manipulator; Optimal design; Uncertainties;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents a novel robust optimal design for parallel manipulators to optimize the performance indices subject to the unavoidable effect of the uncertainties. The robust optimization proposed in the present contribution consists of a multi-objective optimization problem that aims at maximizing the performance index and robustness criterion simultaneously. The design variables should be adjusted to minimize the effects of the uncertainties and maximize the performance index. The single-objective optimization problem is also carried out to evaluate the optimal design obtained by using the proposed robust optimization approach. Numerical results illustrate the benefits of the proposed robust optimization applied to the optimal kinematic design of a parallel Cartesian manipulator with clearances and the optimal dynamic design of a Stewart–Gough platform.
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页码：2843 / 2860
页数：17
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