MULTI-OBJECTIVE OPTIMIZATION OF HEXA PARALLEL MANIPULATOR BASED ON KINEMATICAND DYNAMIC INDICIES

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MIRSHEKARI ERFAN; GHANBARZADEH AFSHIN; HEIDARI KOUROSH

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:8 Page(s): 0-0

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Title

MULTI-OBJECTIVE OPTIMIZATION OF HEXA PARALLEL MANIPULATOR BASED ON KINEMATICAND DYNAMIC INDICIES

Author(s)

MIRSHEKARI ERFAN | GHANBARZADEH AFSHIN | HEIDARI KOUROSH | Issue Writer Certificate

Keywords

HEXA PARALLEL ROBOTQ1

KINEMATIC DEXTERITYQ1

DYNAMIC DEXTERITYQ1

MULTI-OBJECTIVE OPTIMIZATIONQ1

BEES ALGORITHMQ2

Abstract

In this study, the effects of geometrical parameters of 6-DOF HEXA PARALLEL ROBOT on kinematic, anddynamic performance indices are investigated and its structure is optimized using the intelligent multiobjective BEES ALGORITHM. In this way, after describing the structure and specifying the geometricalparameters of the robot, inverse kinematic relations of the robot are obtained. Jacobian matrix that mapsvelocity from joint space to Cartesian space is developed. Mass matrix is obtained from calculating thetotal kinetic energy of the manipulator in terms of the actuated joints vector. Inverse of the homogenjacobian-based condition number is considered as an index to evaluate the KINEMATIC DEXTERITY. Basedon mass matrix as relation between acceleration vector of the end effecter and torque vector of actuatedjoints, DYNAMIC DEXTERITY index is presented. Using the multi-objective BEES ALGORITHM and consideringdynamic and kinematic performance indices in a pre-determined workspace as the objective functions, structure of HEXA PARALLEL ROBOT is optimized. In this way, the proper geometrical constraints such aslimitation of universal and spherical joints, and singularity avoidance constraints are considered. Paretofront of the multi objective optimization of the robot is drawn. Diagrams of the kinematic and dynamicperformance indices variation in the workspace and the effects of geometrical parameters variation onthem are presented.

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APA: Copy

MIRSHEKARI, ERFAN, GHANBARZADEH, AFSHIN, & HEIDARI, KOUROSH. (2016). MULTI-OBJECTIVE OPTIMIZATION OF HEXA PARALLEL MANIPULATOR BASED ON KINEMATICAND DYNAMIC INDICIES. MODARES MECHANICAL ENGINEERING, 16(8), 0-0. SID. https://sid.ir/paper/358890/en

Vancouver: Copy

MIRSHEKARI ERFAN, GHANBARZADEH AFSHIN, HEIDARI KOUROSH. MULTI-OBJECTIVE OPTIMIZATION OF HEXA PARALLEL MANIPULATOR BASED ON KINEMATICAND DYNAMIC INDICIES. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(8):0-0. Available from: https://sid.ir/paper/358890/en

IEEE: Copy

ERFAN MIRSHEKARI, AFSHIN GHANBARZADEH, and KOUROSH HEIDARI, “MULTI-OBJECTIVE OPTIMIZATION OF HEXA PARALLEL MANIPULATOR BASED ON KINEMATICAND DYNAMIC INDICIES,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 8, pp. 0–0, 2016, [Online]. Available: https://sid.ir/paper/358890/en

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