Generating manipulator trajectories considering multiple objectives with kinematics and dynamics constraints is a non-trivial optimization. In this paper, a constrained multi-objective genetic algorithm (MOGA) based technique is proposed to address this problem for a general motor-driven parallel kinematic manipulator. The planning process is composed of searching for a motion ensuring the accomplishment of the assigned task, minimizing the traverse time, and expended energy subject to various constraints imposed by the associated kinematics and dynamics of the manipulator. This problem is treated via an adequate parametric path representation in the task space of the moving platform, and then the use of the constrained MOGA for solving the resulted nonlinear multi-objective optimization problem. Simulation results are presented for the trajectories of the parallel kinematic manipulator, and a subsequent comparison with the weighted sum method is also carried out.
PurposeThe purpose of this paper is to present the mechanical design and stability analysis of a new stair‐climbing robotic wheelchair.Design/methodology/approachA prototype stair‐climbing robotic wheelchair is constructed comprising a pair of rotational multi‐limbed structures pivotally mounted on opposite sides of a support base. The short arm, long arm, and triangular support structures within each rotational multi‐limbed structure rotate under the actuating effects of epicyclical gear trains.FindingsThe robotic wheelchair ascends and descends stairs in a statically stable manner and has an efficient planar navigation capability.Research limitations/implicationsIn its current state of development, the robotic wheelchair is controlled and powered remotely via umbilical cords rather than an onboard processor and power supply.Practical implicationsThe robotic wheelchair provides an effective solution for enhancing the mobility of the elderly and disabled.Originality/valueThe rotational multi‐limbed mechanisms are developed to ensure the stability of the sitting base at all stages of the stair navigation maneuver without the need for additional servo‐mechanism. The proposed robotic wheelchair shows the simplification of the associated operation process.
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