Genetic Algorithm Coupled with the Krawczyk Method for Multi-Objective Design Parameters Optimization of the 3-UPU Manipulator

摘要

In this paper, a multi-objective design optimization of the 3-UPU translational parallel manipulator is presented. Based on a new algorithm, which combines the genetic algorithms and the Krawczyk operator, the robot position error is minimized and the robot design parameters tolerances are maximized, simultaneously. The results show that the designer can maintain the manipulator accuracy by using a specific size of the base, and can restrict its tolerance even by enlarging the actuators' tolerance intervals. This algorithm is also used to determine the maximum design parameters tolerances for an allowable robot position error. The proposed algorithm can be extended to optimize other types of robots.