Geometric Optimization of a Delta Type Parallel Robot Using Harmony Search Algorithm

Abstract

Summary This paper aims to provide an optimal design of geometric parameters of a special architecture of the delta parallel mechanism, in order to improve positioning accuracy, workspace size, and kinematic and dynamic performance characteristics. In the studied 3[P2(US)] robot, the radius of both fixed and moving platforms, length of the connecting rods, and installation angle of the actuators of the manipulator are chosen as the decision variables. These parameters are optimized to maximize the weighted objective function, comprising workspace volume, global dexterity, global mass, global error, and global error sensitivity indices. Optimizations are performed employing two distinct algorithms, Genetic and Harmony Search whose results confirm each other. The optimal design of the robot leads to maximum workspace size, high dexterity, and dynamic performance, with a minimum error of the end-effector position in its reachable workspace.