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

Engineering Optimization (Impact Factor: 1.08). 06/2010; 42(6):535-565. DOI: 10.1080/03052150903325557


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.

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Available from: Edgar Alfredo Portilla Flores
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    • "Nevertheless, few works are related to the performance of the meta-heuristic algorithm, which is an important issue to be analyzed in order to improve the obtained solutions in the mechatronic design framework. In [12], a differential evolution algorithm with a constraint handling mechanism is proposed to simultaneously solve the design of the mechanical structure parameters of a parallel robot and the design of the proportional-integral-derivative control system required to perform a task in the Cartesian space. In [13], an approach based on a differential evolution algorithm to promote parametric reconfiguration characteristics on a continuously variable transmission C.V.T. and on a parallel robot optimal design is presented. "

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    • "Sin embargo, no se ha dado la suficiente importancia a la selección adecuada del algoritmo en el marco de diseñodise˜diseño mecatrónico. En [9] se propone un algoritmo de evolución diferencial con manejo de restricciones para resolver el diseñodise˜diseño simultáneo de los parámetros de la estructura mecánica de un robot paralelo y el diseñodise˜diseño del sistema de control proporcional-integral-derivativo para realizar una tarea en el espacio cartesiano. Además se integra al algoritmo un mecanismo para reducir el tiempo computacional en el problema de optimización dinámica no lineal. "
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    ABSTRACT: The kinematic design of a machine or mechanism is an important stage in the design methodology. A dexterous workspace for a robot manipulator is a outstanding characteristic that must be considered in the kinematic design, because it permit to reach the points of the workspace with different orientation. With this objective in mind, an optimization problem is formulated. A defined dexterous workspace is taken as an objective function. The design variables are lengths of the links and the angles of the links. The no collision between links are included as constraints. This paper describes the use of metaheuristic optimization techniques such as differential evolution (DE) to solve the above problem. A mechanism is incorporated in the DE algorithm in order to improve its behavior. This mechanism incorporates information of the base and the difference vectors of good trial vector, in an attempt to generate better individuals in the same direction. This mechanism guides the evolution of the population toward a better zone without sacrificing the search capabilities of the DE algorithm. The design of a robot with three revolute joints (3R robot) is considered as a numerical example.
    No preview · Conference Paper · Nov 2013
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    • "The main reason to consider the octagonal prismatic shape of the link is that by modifying the lengths a si , ..., k si , the mass center angle γ i can be in the interval γ i ∈ [0, ±π], thus providing more diversity to the design solution than a rectangular shape, whose mass center angle could only be zero or ±π radians. The mathematical expressions relating the mass, the mass center length, the mass center angle and the inertia with the structure design variable vector can be found in [18]. The gains of the PID controller are defined as the control design variable vector p c ∈ R nc . "
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    ABSTRACT: In this paper, a robust formulation for the structure-control design of mechatronic systems is developed. The proposed robust approach aims at minimization of the sensitivity of the nominal design objectives with respect to uncertain parameters. The robust integrated design problem is established as a nonlinear multiobjective dynamic optimization one, which in order to consider synergetic interactions uses mechanical and control nominal design objectives. A planar parallel robot and its controller are simultaneously designed with the proposed approach when the nominal design objectives are the tracking error and the manipulability measure. The payload at the end-effector is considered as the uncertain parameter. Experimental results show that a robustly designed parallel robot presents lower sensitivity of the nominal design objectives under the effects of changes at the payload than a nonrobustly designed one.
    Full-text · Article · Oct 2013 · IEEE/ASME Transactions on Mechatronics
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