Journal
MECHANISM AND MACHINE THEORY
Volume 140, Issue -, Pages 586-600Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2019.06.023
Keywords
Multi-objective optimization; Parallel manipulator; NSGA-II; OMOPSO; MOEA/D
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Funding
- CONACYT project [FC2016-1961]
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It is well known that the performance of parallel manipulators is highly dependent on their geometry, therefore the dimensional synthesis plays an important role in the design of a manipulator. In this work, the dimensional synthesis of a spherical parallel manipulator is carried out by means of a multi-objective optimization. This manipulator is planned to be a prosthetic wrist. The considered objective functions were the dexterity, the variability of the dexterity, the maximum required torque and the stiffness. The optimization was performed using three different metaheuristic algorithms: NSGA-II, OMOPSO, MOEA/D. After performing a set of simulations, the results show a clearly better performance of the MOEA/D algorithm. The optimized geometry of the manipulator allowed to design a virtual prototype of a prosthetic wrist. (C) 2019 Published by Elsevier Ltd.
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