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Multi-objective optimal design of flexible-joint parallel robot

Fabian Andres Lara-Molina (Mechanical Engineering Department, Federal University of Technology – Paraná, Parana, Brazil)
Didier Dumur (Laboratory of Signals and Systems, CentraleSupélec-CNRS Paris-Saclay University, Gif sur Yvette, France)
Karina Assolari Takano (Mechanical Engineering Department, Federal University of Technology – Paraná, Parana, Brazil)

Engineering Computations

ISSN: 0264-4401

Article publication date: 30 October 2018

Issue publication date: 27 November 2018

310

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

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