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Evaluating concurrent design approaches for a Delta parallel manipulator

Published online by Cambridge University Press:  09 March 2018

Salvador Botello-Aceves ,
S. Ivvan Valdez ,
Héctor M. Becerra  and
Eusebio Hernandez
Salvador Botello-Aceves
Affiliation:
Centro de Investigación en Matemáticas (CIMAT), Guanajuato, México. E-mails: salvador.botello@cimat.mx, hector.becerra@cimat.mx
S. Ivvan Valdez
Affiliation:
Universidad de Guanajuato, División de Ingenierías Campus Irapuato-Salamanca (DICIS), Salamanca, Guanajuato, México. E-mail: si.valdez@ugto.mx
Héctor M. Becerra
Affiliation:
Centro de Investigación en Matemáticas (CIMAT), Guanajuato, México. E-mails: salvador.botello@cimat.mx, hector.becerra@cimat.mx
Eusebio Hernandez*
Affiliation:
Instituto Politécnico Nacional, SEPI ESIME Ticomán, Ciudad de México, México
*
*Corresponding author. E-mail: euhernandezm@ipn.mx
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Summary

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This paper addresses the problem of optimal mechanisms design, for the geometric structure and control parameters of mechanisms with complex kinematics, which is one of the most intricate problems in contemporary robot modeling. The problem is stated by means of task requirements and performance constraints, which are specified in terms of the end-effector's position and orientation to accomplish the task. Usually, this problem does not fulfill the characteristics needed to use gradient-based optimization algorithms. In order to circumvent this issue, we introduce case studies of optimization models using evolutionary algorithms (EAs), which deal with the concurrent optimization of both: structure and control parameters. We define and review several optimization models based on the workspace, task and dexterity requirements, such that they guarantee an adequate performance under a set of operating and joint constraints, for a Delta parallel manipulator. Then, we apply several methodologies that can approximate optimal designs. Additionally, we compare the EAs with a quasi-Newton method (the BFGS), in order to show that the last kind of methods is not capable of solving the problem if the initial point is not very close to a local optimum. The results provide directions about the best state-of-the-art EA for addressing different design problems.

Keywords

DesignDimensional synthesisEvolutionary algorithmsMechanisms with complex kinematicsDelta robotConcurrent designCMA-ES, GA, BUMDA

Information

Type
Articles
Information
Robotica , Volume 36 , Issue 5 , May 2018 , pp. 697 - 714
Copyright
Copyright © Cambridge University Press 2018 

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