Single and multi-objective optimization issues and analysis of a 3UPU parallel manipulator

Dan Zhang; Bin Wei

doi:10.1115/DETC2014-34320

Single and multi-objective optimization issues and analysis of a 3UPU parallel manipulator

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

Differential evolution (DE) and Pareto front theory are used to optimize stiffness in three directions and workspace of a 3UPU manipulator. Stiffness of the mechanism in each direction is analyzed, and it comes to the fact when stiffness in x and y directions increase, stiffness in z direction will decrease and therefore, the sum of stiffness in x and y and stiffness in z are optimized simultaneously by applying DE, but those two objectives are not in the same scale, a normalization of objectives is therefore considered. Furthermore, workspace volume of the mechanism is analyzed and optimized by using DE. By comparing landscapes of stiffness and workspace volume, one finds stiffness in z has same trend with workspace volume whereas stiffness in x and y and workspace volume conflicts. By employing Pareto front theory and DE, the sum of stiffness in x and y and workspace volume are optimized simultaneously.

Original language	English
Title of host publication	38th Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers(ASME)
ISBN (Electronic)	9780791846360
DOIs	https://doi.org/10.1115/DETC2014-34320
Publication status	Published - 2014
Externally published	Yes
Event	ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States Duration: 17 Aug 2014 → 20 Aug 2014

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	5A

Conference

Conference	ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Country/Territory	United States
City	Buffalo
Period	17/08/14 → 20/08/14

ASJC Scopus subject areas

Modelling and Simulation
Mechanical Engineering
Computer Science Applications
Computer Graphics and Computer-Aided Design

More information

10.1115/DETC2014-34320

Cite this

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title = "Single and multi-objective optimization issues and analysis of a 3UPU parallel manipulator",

abstract = "Differential evolution (DE) and Pareto front theory are used to optimize stiffness in three directions and workspace of a 3UPU manipulator. Stiffness of the mechanism in each direction is analyzed, and it comes to the fact when stiffness in x and y directions increase, stiffness in z direction will decrease and therefore, the sum of stiffness in x and y and stiffness in z are optimized simultaneously by applying DE, but those two objectives are not in the same scale, a normalization of objectives is therefore considered. Furthermore, workspace volume of the mechanism is analyzed and optimized by using DE. By comparing landscapes of stiffness and workspace volume, one finds stiffness in z has same trend with workspace volume whereas stiffness in x and y and workspace volume conflicts. By employing Pareto front theory and DE, the sum of stiffness in x and y and workspace volume are optimized simultaneously.",

author = "Dan Zhang and Bin Wei",

note = "Publisher Copyright: Copyright {\textcopyright} 2014 by ASME.; ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 ; Conference date: 17-08-2014 Through 20-08-2014",

year = "2014",

doi = "10.1115/DETC2014-34320",

language = "English",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers(ASME)",

booktitle = "38th Mechanisms and Robotics Conference",

address = "United States",

}

Zhang, D & Wei, B 2014, Single and multi-objective optimization issues and analysis of a 3UPU parallel manipulator. in 38th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5A, American Society of Mechanical Engineers(ASME), ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014, Buffalo, United States, 17/08/14. https://doi.org/10.1115/DETC2014-34320

Single and multi-objective optimization issues and analysis of a 3UPU parallel manipulator. / Zhang, Dan; Wei, Bin.
38th Mechanisms and Robotics Conference. American Society of Mechanical Engineers(ASME), 2014. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AU - Zhang, Dan

AU - Wei, Bin

PY - 2014

Y1 - 2014

N2 - Differential evolution (DE) and Pareto front theory are used to optimize stiffness in three directions and workspace of a 3UPU manipulator. Stiffness of the mechanism in each direction is analyzed, and it comes to the fact when stiffness in x and y directions increase, stiffness in z direction will decrease and therefore, the sum of stiffness in x and y and stiffness in z are optimized simultaneously by applying DE, but those two objectives are not in the same scale, a normalization of objectives is therefore considered. Furthermore, workspace volume of the mechanism is analyzed and optimized by using DE. By comparing landscapes of stiffness and workspace volume, one finds stiffness in z has same trend with workspace volume whereas stiffness in x and y and workspace volume conflicts. By employing Pareto front theory and DE, the sum of stiffness in x and y and workspace volume are optimized simultaneously.

AB - Differential evolution (DE) and Pareto front theory are used to optimize stiffness in three directions and workspace of a 3UPU manipulator. Stiffness of the mechanism in each direction is analyzed, and it comes to the fact when stiffness in x and y directions increase, stiffness in z direction will decrease and therefore, the sum of stiffness in x and y and stiffness in z are optimized simultaneously by applying DE, but those two objectives are not in the same scale, a normalization of objectives is therefore considered. Furthermore, workspace volume of the mechanism is analyzed and optimized by using DE. By comparing landscapes of stiffness and workspace volume, one finds stiffness in z has same trend with workspace volume whereas stiffness in x and y and workspace volume conflicts. By employing Pareto front theory and DE, the sum of stiffness in x and y and workspace volume are optimized simultaneously.

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T3 - Proceedings of the ASME Design Engineering Technical Conference

BT - 38th Mechanisms and Robotics Conference

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Single and multi-objective optimization issues and analysis of a 3UPU parallel manipulator

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