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IJMERR 2022 Vol.11(4): 234-240

Optimal Design of Kinematics Parallel Manipulator Considering Workspace and Control Effort

Diego A. Nunez, Mauricio Mauledoux, Oscar Aviles, Juan Guacheta, and Sebastian Gonzalez
Universidad Militar Nueva Granada, Ingenieria Mecatronica, Bogota, Colombia

Abstract—Several studies have reported the design of kinematics parallel mechanisms based on behavioral features; however, the design of this kind of system with six degrees of freedom considering parallelly volumetric behavior together with control effort remains to be accomplished. This work addresses the design of one type of these mechanisms based on two aspects: workspace and control effort. All aspects are considering and optimizing simultaneously through a multi-objective optimization technique based on a bio-inspired algorithm named Elitist Non-Dominated Sorting Differential Evolution Algorithm, which brings about a Pareto front. The workspace is determined using the inverse kinematics constrained boundaries analysis and a mono-objective optimization method. On the other hand, control effort is resolved by calculating the Euclidian norm of each torque signal of the system, which is controlled by a hybrid technique consisting of sliding modes and differential flatness. Finally, relations between the two studied aspects are depicted and analyzed.

Index Terms—KINEMATICS parallel mechanism, HEXA, 6 dof, workspace, control effort, multi-objective optimization, differential evolution, pareto front

Cite: Diego A. Nunez, Mauricio Mauledoux, Oscar Aviles, Juan Guacheta, and Sebastian Gonzalez, "Optimal Design of Kinematics Parallel Manipulator Considering Workspace and Control Effort," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 4, pp. 234-240, April 2022. DOI: 10.18178/ijmerr.11.4.234-240

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.