Multi-Objective Optimal Kinematic Design of 3-TPS/TP Parallel Robot Manipulator

Abstract

The purpose of this research work is to find the optimized kinematic structural parameters of the 3-TPS/TP parallel manipulator while taking into consideration the workspace, kinematic properties and other factors. The Ranked Pareto Particle Swarm Optimization (RP-PSO) approach is applied to solve the multi-objective optimization problems. Firstly, the structure of the parallel manipulator and its kinematic model are devised. Then, we set up the kinematical performance indices for the evaluation of manipulator working properties, including Local Condition Index (LCI), Global Condition Index (GCI) and Good Condition Workspace (GCW). The optimization is further carried out in a Parameter Design Space (PDS) with normalized geometry parameters. Then the geometry optimization problems are solved using a PDS based RP-PSO approach. Finally, the feasibility of this approach is supported by examples given this paper.