Abstract (EN):
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.
Language:
English
Type (Professor's evaluation):
Scientific
Contact:
freireh@gmail.com; oliveira@utad.pt; epires@utad.pt; aml@fe.up.pt
No. of pages:
9