NDLI: Optimal Design of a 2 DOF Micro Parallel Robot Using Genetic Algorithms

Content Provider	IEEE Xplore Digital Library
Author	Stan, S.-D. Maties, V. Balan, R.
Copyright Year	2007
Description	Author affiliation: Tech. Univ. of Cluj-Napoca, Cluj-Napoca (Stan, S.-D.)
Abstract	This paper is aimed at presenting a study on the optimization of the Biglide micro parallel robot, which comprises two-degree-of-freedom (DOF) micro parallel robot with constant struts. The robot workspace is characterized and the inverse kinematics equation is obtained. In the paper, design optimization is implemented with Genetic Algorithms (GA) for optimization considering transmission quality index, design space and workspace. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem of 2 DOF micro parallel robot. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. The obtained results have shown that the use of GA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker.
Starting Page	719
Ending Page	724
File Size	647286
Page Count	6
File Format	PDF
ISBN	1424410916
DOI	10.1109/ICITECHNOLOGY.2007.4290414
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-03-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Evolutionary computation Proposals Equations Genetic algorithms Design optimization Orbital robotics Parallel robots optimization Kinematics micro parallel robots Robustness GA
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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