Comparison of metaheuristic optimization algorithms for dimensional synthesis of a spherical parallel manipulator

José Alfredo Leal-Naranjo, Jorge Alberto Soria-Alcaraz, Christopher René Torres-San Miguel, Juan Carlos Paredes-Rojas, Andrés Espinal, Horacio Rostro-González

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Resum

It is well known that the performance of parallel manipulators is highly dependent on their geometry, therefore the dimensional synthesis plays an important role in the design of a manipulator. In this work, the dimensional synthesis of a spherical parallel manipulator is carried out by means of a multi-objective optimization. This manipulator is planned to be a prosthetic wrist. The considered objective functions were the dexterity, the variability of the dexterity, the maximum required torque and the stiffness. The optimization was performed using three different metaheuristic algorithms: NSGA-II, OMOPSO, MOEA/D. After performing a set of simulations, the results show a clearly better performance of the MOEA/D algorithm. The optimized geometry of the manipulator allowed to design a virtual prototype of a prosthetic wrist.

Idioma originalAnglès
Pàgines (de-a)586-600
Nombre de pàgines15
RevistaMechanism and Machine Theory
Volum140
DOIs
Estat de la publicacióPublicada - d’oct. 2019
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