Abstract
A maximin multiobjective particle swarm optimization algorithm variant is presented, in the context of parallel robotic manipulator design. 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. Two dynamic performance criteria are formulated and non-dominated optimal solutions are found through a multi-objective particle swarm optimization algorithm. Preliminary simulation results are presented.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chablat, D., Wenger, P., Majou, F., et al.: An Interval Analysis Based Study for the Design and the Comparison of Three-Degrees-of-Freedom Parallel Kinematic Machines. Int. J. Robot Res. 23, 615–624 (2004)
Lopes, A.M.: Optimization of a 6-DOF Parallel Robotic Manipulator based on Kinematic Performance Indexes. In: Proc. of the 26th IASTED Int. Conf. on Modelling, Identification, and Control, Innsbruck, Austria (2007)
Miller, K.: Optimal Design and Modeling of Spatial Parallel Manipulators. Int. J. Robot Res. 23, 127–140 (2004)
Liu, X.-J., Wang, J., Pritschow, G.: Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms. Mech. Mach. Theory 41, 119–144 (2006)
Alici, G., Shirinzadeh, B.: Optimum synthesis of planar parallel manipulators based on kinematic isotropy and force balancing. Robotica 22, 97–108 (2004)
Rao, N., Rao, K.: Dimensional synthesis of a spatial 3-RPS parallel manipulator for a prescribed range of motion of spherical joints. Mech. Mach. Theory 44, 477–486 (2009)
Wu, J., Wang, J., Li, T., Wang, L., Guan, L.: Dynamic dexterity of a planar 2-DOF parallel manipulator in a hybrid machine tool. Robotica 26, 93–98 (2008)
Merlet, J.-P., Gosselin, C.: Nouvelle Architecture pour un Manipulateur Parallele a Six Degres de Liberte. Mech. Mach. Theory 26, 77–90 (1991)
Lopes, A.M.: Complete Dynamic Modeling of a moving base 6-dof Parallel Manipulator. Robotica 28, 781–793 (2010)
Deb, K.: Multi-Objective Optimization Using Evolutionary Algorithms. John Wiley & Sons, Chichester (2001)
Solteiro Pires, E.J., de Moura Oliveira, P.B., Tenreiro Machado, J.A.: Multi-objective MaxiMin Sorting Scheme. In: Coello Coello, C.A., Hernández Aguirre, A., Zitzler, E. (eds.) EMO 2005. LNCS, vol. 3410, pp. 165–175. Springer, Heidelberg (2005)
De Moura Oliveira, P.B., Solteiro Pires, E.J., Boaventura, J., Vrancic, D.: Multi-objective particle swarm optimization design of PID controllers. In: Omatu, S., Rocha, M.P., Bravo, J., Fernández, F., Corchado, E., Bustillo, A., Corchado, J.M. (eds.) IWANN 2009. LNCS, vol. 5518, pp. 1222–1230. Springer, Heidelberg (2009)
Coello, C.A.A.: Twenty Years of Evolutionary Multi-Objective Optimization: A Historical View of the Field. IEEE of Computational Intelligence Magazine 1(1), 28–36 (2006)
Kennedy, J., Eberhart, R.C.: Particle swarm optimization. In: Proc. IEEE Int’l. Conf. on Neural Networks, vol. IV, pp. 1942–1948. IEEE Service Center, Piscataway (1995)
Reyes-Sierra, M., Coello, C.A.A.: Multi-Objective Particle Swarm Optimizers: A Survey of the State-of-the-Art. International Journal of Computational Intelligence Research 2(3), 287–308 (2006)
Kennedy, J., Mendes, R.: Neighborhood Topologies in Fully-Informed and Best-Of-Neighborhood Particle Swarms. In: IEEE SMC Workshop on Soft Computing in Industrial Applications, SMCia 2003 (2003)
Corchado, E., Arroyo, A., Tricio, V.: Soft Computing Models to Identify Meteorological days. Logic Journal of the IGPL (2010)
Coelho, J., Cunha, J., de Moura Oliveira, P., Solteiro Pires, E.J.: Greenhouse Heat Load Prediction Using a Support Vector Regression Model. In: Corchado, E., Novais, P., Analide, C., Sedano, J. (eds.) SOCO 2010. Advances in Intelligent and Soft Computing, vol. 73, pp. 111–117. Springer, Heidelberg (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Freire, H., de Moura Oliveira, P.B., Pires, E.J.S., Lopes, A.M. (2011). MaxiMin MOPSO Design of Parallel Robotic Manipulators. In: Corchado, E., Snášel, V., Sedano, J., Hassanien, A.E., Calvo, J.L., Ślȩzak, D. (eds) Soft Computing Models in Industrial and Environmental Applications, 6th International Conference SOCO 2011. Advances in Intelligent and Soft Computing, vol 87. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19644-7_36
Download citation
DOI: https://doi.org/10.1007/978-3-642-19644-7_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19643-0
Online ISBN: 978-3-642-19644-7
eBook Packages: EngineeringEngineering (R0)