Abstract
A maximin multiobjective particle swarm optimization algorithm variant is presented, in the context of parallel robotic manipulator design. The choice of a particular structural configuration and its dimensioning is a central issue to the performance of these manipulators. A solution to the dimensioning problem, normally involves the definition of performance criteria as part of an optimization process. In this paper the kinematic design of a 6-dof parallel robotic manipulator is analyzed. Two dynamic performance criteria are formulated and non-dominated optimal solutions are found through a multi-objective particle swarm optimization algorithm. Preliminary simulation results are presented.KeywordsPareto FrontParticle Swarm Optimization AlgorithmParallel ManipulatorSeparation AngleStandard Particle Swarm OptimizationThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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