Multi-objective optimal design of flexible-joint parallel robot
ISSN: 0264-4401
Article publication date: 30 October 2018
Issue publication date: 27 November 2018
Abstract
Purpose
This paper aims to present the optimal design procedure of a symmetrical 2-DOF parallel planar robot with flexible joints by considering several performance criteria based on the workspace size, dynamic dexterity and energy of the control.
Design/methodology/approach
Consequently, the optimal design consists in determining the dimensional parameters to maximize the size of the workspace, maximize the dynamic dexterity and minimize the energy of the control action. The design criteria are derived from the kinematics, dynamics, elastodynamics and the position control law of the robot. The analysis of the design criteria is performed by means of the design space and atlases.
Findings
Finally, the multi-objective design optimization derived from the optimal design procedure is solved by using multi-objective genetic algorithms, and the results are analyzed to assess the validity of the proposed approach.
Originality/value
An alternative approach to the design of a planar parallel robot with flexible joints that permits determining the structural parameters by considering kinematic, dynamic and control operational performance.
Keywords
Acknowledgements
The authors express their acknowledgments to the Graduate Program in Mechanical Engineering of the Federal University of Technology – Paraná funded by CAPES.
Citation
Lara-Molina, F.A., Dumur, D. and Assolari Takano, K. (2018), "Multi-objective optimal design of flexible-joint parallel robot", Engineering Computations, Vol. 35 No. 8, pp. 2775-2801. https://doi.org/10.1108/EC-01-2018-0015
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited