Abstract
The dimensional synthesis of multi-linkage robots has great significance for improving flexibility and efficiency. With the increase of the degree of freedom and restrictions on special occasions, the solution of dimensional synthesis becomes complicated and time-consuming. Theory of workspace density function, maneuverability, and energy expenditure had been studied. With high flexibility and low energy consumption as the design goal, the method for dimensional and joint angle synthesis of multi-linkage robots was proposed based on a niched Pareto genetic algorithm. The Pareto solution set has been obtained. The method was verified by two application examples, which is occlusion of the solar salt evaporation pool and the secondary scattering of solid 2,2′-azobis(2,4-dimethylvaleronitrile). Through the application of NPGA (niched Pareto genetic algorithm) compared with KPCA (kernel principal component analysis), it can save 12.37% time in occlusion of one evaporating pool and reduce energy consumption by 3.85%; it can save 9.96% time in scattering of remain materials per barrel and reduce energy consumption by 1.77%. The study reduces the labor intensity of manual workers in the salt making industry, ensures the safe production of dangerous chemicals, and provides new ideas and methods for the dimensional synthesis of multi-linkage robots.
Highlights
A multi-linkage robot is a linkage mechanism composed of multiple movable joints connecting rigid rods in series [1,2]
José-Alfredo et al used the means of a multi-objective optimization to carry out dimensional synthesis of a spherical parallel manipulator, the method of multi-objective evolutionary algorithm based on decomposition (MOEA/D) was proposed, objective functions were the dexterity, the variability of the dexterity, the maximum required torque, and the stiffness
In order to guide the design of multi-link robots, we proposed a design method of multi-linkage robots’ dimensions and joint angles based on the niched Pareto genetic algorithm, shorted as NPGA
Summary
A multi-linkage robot is a linkage mechanism composed of multiple movable joints connecting rigid rods in series [1,2] It has the advantages of large range of working space, high flexibility, simple mechanical structure, good obstacle avoidance performance, and better avoidance of singularity of mechanism. In the literature [3,4,5,6,7,8,9,10,11], one or more algorithms and theories are used to design the size of multi-linkage robots with a single target or several targets as the optimized objective function. In order to guide the design of multi-link robots, we proposed a design method of multi-linkage robots’ dimensions and joint angles based on the niched Pareto genetic algorithm, shorted as NPGA.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
