Article

Differential evolution techniques for the structure-control design of a five-bar parallel robot

Engineering Optimization (Impact Factor: 1.23). 06/2010; 42:535-565. DOI: 10.1080/03052150903325557

ABSTRACT The present work deals with the use of a constraint-handling differential evolution algorithm to solve a nonlinear dynamic optimization problem (NLDOP) with 51 decision variables. A novel mechatronic design approach is proposed as an NLDOP, where both the structural parameters of a non-redundant parallel robot and the control parameters are simultaneously designed with respect to a performance criterion. Additionally, the dynamic model of the parallel robot is included in the NLDOP as an equality constraint. The obtained solution will be a set of optimal geometric parameters and optimal PID control gains. The optimal geometric parameters adjust the dynamic and the kinematic parameters, optimizing then, the link shapes of the robot. The proposed mechatronic design approach is applied to design simultaneously both the mechanical structure of a five-bar parallel robot and the PID controller.

1 Follower
 · 
95 Views
  • [Show abstract] [Hide abstract]
    ABSTRACT: To solve chemical process dynamic optimization problems, a differential evolution algorithm integrated with adaptive scheduling mutation strategy (ASDE) is proposed. According to the evolution feedback information, ASDE, with adaptive control parameters, adopts the round-robin scheduling algorithm to adaptively schedule different mutation strategies. By employing an adaptive mutation strategy and control parameters, the real-time optimal control parameters and mutation strategy are obtained to improve the optimization performance. The performance of ASDE is evaluated using a suite of 14 benchmark functions. The results demonstrate that ASDE performs better than four conventional differential evolution (DE) algorithm variants with different mutation strategies, and that the whole performance of ASDE is equivalent to a self-adaptive DE algorithm variant and better than five conventional DE algorithm variants. Furthermore, ASDE was applied to solve a typical dynamic optimization problem of a chemical process. The obtained results indicate that ASDE is a feasible and competitive optimizer for this kind of problem.
    Engineering Optimization 10/2013; 45(10). DOI:10.1080/0305215X.2012.729052 · 1.23 Impact Factor
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: In this paper the formulation of the optimal design for wheel location of an omnidirectional mobile robot is proposed as an optimization problem. The empirical com-parison of the SQP algorithm and eight different DE variants for this particular optimization problems is presented. The importance of using heuristic approaches in real world optimization problem is analyzed via empirical results.
  • [Show abstract] [Hide abstract]
    ABSTRACT: Three-degrees-of-freedom (3-DOF) parallel manipulators have many advantages such as simple structure, fewer actuators, and lower maintenance cost. However, parasitic motions may degrade the positioning accuracy of the platforms. In order to design 3-DOF parallel manipulators which can fulfil specified workspace requirements and exhibit minimum parasitic motions, the design problem is formulated into a minimax problem with workspace constraints. Then, an interval-based method is exploited to determine the feasible solution set which is derived as a union of many scattered parameter intervals (boxes). Then, a new approach based on region mapping and a powerful optimizer (namely differential evolution) is proposed to solve the optimization problem over scattered search regions. Benchmark tests show the superiority of the proposed approach. Then, the approach and interval analysis are used to solve a real-world design problem involving a 3-DOF manipulator. Numerical results demonstrate the effectiveness and advantages of the proposed design method.
    Engineering Optimization 03/2015; 47(3). DOI:10.1080/0305215X.2014.895337 · 1.23 Impact Factor

Full-text (4 Sources)

Download
139 Downloads
Available from
May 20, 2014