Multi-Objective Design of Optimisation of a Class of PKMs - The 3-DOF Gantry-Tau

I. Tyapin (Australia) and G. Hovland (Norway)

Keywords

multiobjective design optimisation, geometric methods, PKM

Abstract

The main contribution of this paper is the use of the evolutionary multi-objective methodology based on the com plex search algorithm and geometric approaches to optimise a parallel kinematic structure. The design optimisation scheme includes the kinematic (collisions free workspace), elastostatic (Cartesian stiffness in the Y direction) and elastodynamic (first resonance frequency) properties of the PKM as the objectives. The optimisation constraints are the support frame lengths, actuator positions, end-effector’s kinematic parameters and the robot’s arm lengths. The optimisation results are presented in this paper.

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