Multi-objective optimization of parallel manipulators using a particle swarm algorithm

Authors:
António M. Lopes;Hélio Freire;P. B. De Moura Oliveira;E. J. Solteiro Pires;Cecília Reis
Affiliations:
Instituto de Engenharia Mecânica, Pólo FEUP, Faculdade de Engenharia da Universidade do Porto, Porto, Portugal;Escola de Ciências e Tecnologia da Universidade de Trás-os-Montes e Alto Douro, Vila Real, Portugal;Escola de Ciências e Tecnologia da Universidade de Trás-os-Montes e Alto Douro, Vila Real, Portugal;Escola de Ciências e Tecnologia da Universidade de Trás-os-Montes e Alto Douro, Vila Real, Portugal and Centro de Investigação e de Tecnologias Agro-Ambientais e Biológica ...;Instituto Superior de Engenharia do Porto, Porto, Portugal
Venue:
AIC'10/BEBI'10 Proceedings of the 10th WSEAS international conference on applied informatics and communications, and 3rd WSEAS international conference on Biomedical electronics and biomedical informatics
Year:
2010

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Abstract

Parallel manipulators have attracted the attention of researchers from different areas such as: high-precision robotics, machine-tools, simulators and haptic devices. The choice of a particular structural configuration and its dimensioning is a central issue to the performance of these manipulators. A solution to the dimensioning problem, normally involves the definition of performance criteria as part of an optimization process. In this paper the kinematic design of a 6-dof parallel robotic manipulator is analyzed. Three performance criteria are formulated and optimal solutions are found through a particle swarm formulation.