GA-based dynamic manipulability optimization of a 2-DOF planar parallel manipulator

Author

Hao Qi ; Guan Liwen ; Wang Jinsong ; Wang Liping

Author_Institution

Dept. of Helicopter Mech. Eng., Inst. of Army Aviation, Beijing, China

fYear

2010

fDate

28-30 June 2010

Firstpage

46

Lastpage

51

Abstract

Dynamic manipulability is a very important issue that should be considered for problems of parallel manipulator design. In order to study the dynamic optimization of a 2-DOF planar parallel manipulator, which is used in a heavy duty hybrid machine, genetic algorithm (GA) is used in the dynamic manipulability optimization. Based on the kinematic analysis, the dynamic equation of the 2-DOF parallel manipulator is derived using the virtual work principle method. Furthermore, global dynamic manipulability (GDM) is introduced to measure the dynamic performance of the manipulator. Then the dynamic optimization based GA method is analyzed. From the numerical simulation, it is proved that the dynamic optimization considering GDM proposed in this paper can ameliorate the dynamic performance of the parallel manipulator well.

Keywords

genetic algorithms; industrial manipulators; machine tools; manipulator dynamics; manipulator kinematics; 2-DOF planar parallel manipulator; dynamic equation; dynamic manipulability optimization; genetic algorithm; global dynamic manipulability; heavy duty hybrid machine; kinematic analysis; virtual work principle; Acceleration; Ellipsoids; Equations; Genetic algorithms; Kinematics; Machine tools; Manipulator dynamics; Numerical simulation; Performance evaluation; Robots; dynamic manipulability; genetic algorithm; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-6503-3

Type

conf

DOI

10.1109/RAMECH.2010.5513214

Filename

5513214