Optimization of a 2 DOF Micro Parallel Robot Using Genetic Algorithms

摘要

An optimization design of 2-dof micro parallel robot is performed with reference to kinematic objective function. Optimum dimensions can be obtained by using the optimization method. Finally, a numerical example is carried out, and the simulation result shows that the optimization method is feasible. The main purpose of the chapter is to present kinematic analysis and to investigate the optimal dynamic design of 2-dof micro parallel robot by deriving its mathematical model. By means of these equations, optimal design for 2-dof micro parallel robot is taken by using GA. Optimal design is an important subject in designing a 2-dof micro parallel robot. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem of a 2 DOF micro parallel robot. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. The obtained results have shown that the use of GA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker. Pareto front was found and non-dominated solutions on this front can be chosen by the decision-maker.