Multi-Objective Optimization of a 2-DoF Purely Translational Parallel Manipulator

Abstract

The paper addresses the multi-objective optimization of a 2-DoF purely translational parallel manipulator. The kinematic analysis of the Proposed T2 parallel robot is introduced briefly. The objective functions are optimized simultaneously to improve Regular workspace Share (RWS) and Global Conditioning Index (GCI). A Multi-Objective Evolution Algorithm (MOEA) based on the Control Elitist Non-dominated Sorting Genetic Algorithm (controlled ENSGA-II) is used to find the Pareto front. The optimization results show that this method is efficient. The parallel manipulator prototype is also exhibited here.

Low-Cost PLC-Based Control of a 2-DoF Purely Translational Parallel Robot

“…The 2-DOF novel translational parallel robot for high speed pick-and-place operation is invented in [9], which is named as T2, see Fig. 1.…”