Multi-criteria optimization of the parallel mechanism with actuators located outside working space

Experimental system for the optimization of the parallel manipulator control

“…Based on results in [15][16][17], PSI algorithm combined with the Pareto optimal set is used to optimize parallel manipulator configuration with limited survey work space in Table 1. Number of steps of the scanning of these parameters is 10 for coordinates x, y, z and is 5 for coordinates α, β and γ.…”

“…Number of steps of the scanning of these parameters is 10 for coordinates x, y, z and is 5 for coordinates α, β and γ. Each one of optimization cycles which runs with the priority of optimization criteria is following: 1) Stiffness of configuration: mean value of the determinant formed from the coordinate axes drives [15]; 2) Number of valid working points of the center of the output links; 3) Number of valid working configurations of the robot. The parallel mechanism optimal design process is shown in Figure 5.…”

“…Therefore, the study of optimization of design and control is important to minimize their noted drawbacks. Example of optimization for parallel manipulators papers in [12][13][14][15][16][17] and singularity in [5][6][7][8][9][10][11]18]. This paper presents a continuous research on optimal design and control for Gough-Stewart platform.…”

“…This paper presents a continuous research on optimal design and control for Gough-Stewart platform. The multi-criteria optimization using genetic algorithm (GA) and a Pareto optimal set is considered in [15][16][17], theory of screws for determination of singularity in [18]. Based on the optimal design, controller improvement using a fuzzy combined genetic algorithm is proposed in [19].…”

Definition of linearly dependent screws in singularity configurations of parallel mechanisms and experimental based on computing of the system

“…Those criteria are determined by the constraints imposed by the kinematic chains, as in [6,7], taking into account some problems the PlUcker coordinates of constraint wrenches can be applied in [9][10][11][12][13][14][15][16][17][18].…”