DESIGN FOR OPTIMAL PERFORMANCE OF 3-RPS PARALLEL MANIPULATOR USING EVOLUTIONARY ALGORITHMS
作者： Sabbavarapu Ramana Babu , Vegesina Ramachandra Raju , Koona Ramji
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摘要: This paper presents an optimal kinematic design for a general type of 3-RPS spatial parallel manipulator based on multi-objective optimization. The objective functions considered are Global Conditioning Index (GCI), stiffness (GSI) and Workspace volume. optimized simultaneously to improve the dexterity as well workspace volume which represents working capacity manipulator. A Evolutionary Algorithm control elitist non-dominated sorting genetic algorithm is adopted find true Pareto front. constraint Jacobian matrix derived analytically generated by numerical search method. static analysis also carried out determine compliance end-effecter.
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