Abstract:
Optimization in every research work is now mandatory for the purpose of manufacturing and design. Robotics is fastest growing field in the context of manipulators and the actuators. Industrialists, engineers and doctors now are well groomed in their expertise tries to adopt fast and reliable methods to improve their production by saving a reasonable amount of time. Under this interest, the researchers went into the study of power and time saving methods that can help industrialists to enhance their production rate. They felt the need to introduce the manipulators. The serial manipulators were in fashion previously but these were not meeting the requirement of the users. The parallel manipulators with small alteration in their design came and with their precision manufacturing advantages. Researchers then welcomed the optimization for the design and manufacturing. So that the users may get the enough benefits by getting the best optimized product which will eventually save time and hence increase their income as well.
The research in parallel manipulators are being done on RPS, UPS, SPS and some special structures like orthoglide and tricept mechanism. Our main focus in this work will be on tricept mechanism. We will cater on the multi objective optimization of parallel tricept mechanism. Actually it is UPS mechanism having three legs with one centered leg and having static platform on the base and moving platform on the head.
Previously it has been done on single objective optimization and genetic algorithm in evolutionary algorithm was targeted. Here it has tried to perform optimization with particle swarm algorithm and claimed it fast in some terms with genetic algorithm. Initially the jacobian and the inverse kinematic solutions has been performed. It should be noted that it is using here three performance parameters conditioning index, workspace volume and global conditioning index to optimize to design variables used in tricept mechanism. It is prismatic actuated and it has two rotations and one translation which prove the fact it has 3 DOFs (degree of freedom). Then multi objective optimization has been introduced and two strategies weighted and epsilon constraint strategies performed to give the corresponding near optimum design values for tricept mechanism.
