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Single and Multi-Objective Optimization Issues and Analysis of a 3UPU Parallel Manipulator

[+] Author Affiliations
Dan Zhang, Bin Wei

University of Ontario Institute of Technology, Oshawa, ON, Canada

Paper No. DETC2014-34320, pp. V05AT08A054; 9 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


Differential evolution (DE) and Pareto front theory are used to optimize stiffness in three directions and workspace of a 3UPU manipulator. Stiffness of the mechanism in each direction is analyzed, and it comes to the fact when stiffness in x and y directions increase, stiffness in z direction will decrease and therefore, the sum of stiffness in x and y and stiffness in z are optimized simultaneously by applying DE, but those two objectives are not in the same scale, a normalization of objectives is therefore considered. Furthermore, workspace volume of the mechanism is analyzed and optimized by using DE. By comparing landscapes of stiffness and workspace volume, one finds stiffness in z has same trend with workspace volume whereas stiffness in x and y and workspace volume conflicts. By employing Pareto front theory and DE, the sum of stiffness in x and y and workspace volume are optimized simultaneously.

Copyright © 2014 by ASME



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