TY - JOUR
T1 - Comparison of metaheuristic optimization algorithms for dimensional synthesis of a spherical parallel manipulator
AU - Leal-Naranjo, José Alfredo
AU - Soria-Alcaraz, Jorge Alberto
AU - Torres-San Miguel, Christopher René
AU - Paredes-Rojas, Juan Carlos
AU - Espinal, Andrés
AU - Rostro-González, Horacio
N1 - Publisher Copyright:
© 2019
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
KW - MOEA/D
KW - Multi-objective optimization
KW - NSGA-II
KW - OMOPSO
KW - Parallel manipulator
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UR - https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=pure_univeritat_ramon_llull&SrcAuth=WosAPI&KeyUT=WOS:000478967700034&DestLinkType=FullRecord&DestApp=WOS_CPL
U2 - 10.1016/j.mechmachtheory.2019.06.023
DO - 10.1016/j.mechmachtheory.2019.06.023
M3 - Article
AN - SCOPUS:85067901398
SN - 0094-114X
VL - 140
SP - 586
EP - 600
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
ER -