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Genetic Algorithm Coupled with the Krawczyk Method for Multi-Objective Design Parameters Optimization of the 3-UPU Manipulator

Published online by Cambridge University Press:  27 August 2019

Safa El Hraiech ,
Ahmed H. Chebbi Open the ORCID record for Ahmed H. Chebbi [Opens in a new window] ,
Zouhaier Affi  and
Lotfi Romdhane
Safa El Hraiech
Affiliation:
LGM, National Engineering School of Monastir, University of Monastir, Monastir, Tunisia E-mails: safa_el_hraiech@hotmail.fr, zouhaier.affi@gmail.com
Ahmed H. Chebbi*
Affiliation:
LGM, National Engineering School of Monastir, University of Monastir, Monastir, Tunisia E-mails: safa_el_hraiech@hotmail.fr, zouhaier.affi@gmail.com
Zouhaier Affi
Affiliation:
LGM, National Engineering School of Monastir, University of Monastir, Monastir, Tunisia E-mails: safa_el_hraiech@hotmail.fr, zouhaier.affi@gmail.com
Lotfi Romdhane
Affiliation:
Department of Mechanical Engineering, American University of Sharjah, Sharjah, UAE E-mail: lotfi.romdhane@gmail.com
*
*Corresponding author. E-mail: ahmed.h.chebbi@gmail.com
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Summary

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In this paper, a multi-objective design optimization of the 3-UPU translational parallel manipulator is presented. Based on a new algorithm, which combines the genetic algorithms and the Krawczyk operator, the robot position error is minimized and the robot design parameters tolerances are maximized, simultaneously. The results show that the designer can maintain the manipulator accuracy by using a specific size of the base, and can restrict its tolerance even by enlarging the actuators’ tolerance intervals. This algorithm is also used to determine the maximum design parameters tolerances for an allowable robot position error. The proposed algorithm can be extended to optimize other types of robots.

Keywords

Interval analysisKrawczyk operatorGenetic algorithmUncertaintiesOptimizationTolerances

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 6 , June 2020 , pp. 1138 - 1154
Copyright
© Cambridge University Press 2019

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