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DTIC ADA216178: Pareto Optimization Design Techniques for the AFIT ... |
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by Defense Technical Information Center |
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A method to optimize a robotic parallel manipulator |
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configuration using Pareto Optimization techniques was |
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developed. Pareto optimization is a cooperative effort |
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between design parameters. The design parameters to be |
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optimized included the payload mass, the length of the |
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manipulator link labelled 12,and the prescribed time for |
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the manipulator to move a prescribed distance. Three |
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functionals were computed for design optimization. These |
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included the mechanical efficiency of the system, the |
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maximum value of torque for motor one, and the maximum |
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value of torque for motor two. A functional analysis was |
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performed using two trajectories for the manipulator; a |
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horizontal trajectory and a vertical trajectory. A |
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combination of these paths allow the manipulator to reach |
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anywhere within its workspace. Algorithms were developed |
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for computing each of the functionals when changing any |
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of the design parameters. When the horizontal path was |
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traversed, mechanical efficiency was zero, thus total |
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input work of the manipulator was evaluated. The |
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sensitivities of the design parameter changes were |
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evaluated for optimization. When a horizontal path was |
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followed, only the link 1 (2) length had changing |
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sensitivity values. Sensitivity changes occurred for all |
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of the design parameters for a vertical trajectory. |
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Theses (SDW) |
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Date Published: 2018-02-24 02:48:15 |
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Identifier: DTIC_ADA216178 |
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Item Size: 67071878 |
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Language: english |
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Media Type: texts |
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# Topics |
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DTIC Archive; Tumlin, Jerrel D , Jr; ... |
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@chris85 |
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