Sintesis Dimensi Manipulator Paralel Bidang Dua Derajat Kebebasan Dengan Rantai Kinematik Paralelogram Simetris
The paper discussed the process to find the optimum dimension for the kinematic constants of a two-degree of freedom planar parallel manipulator. This manipulator itself was constructed by symmetric three parallelogram chains. An optimization process using non-sorted dominated genetic algorithm II (...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
Department of Mechanical Engineering, Faculty of Engineering, Universitas Andalas
2021-10-01
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| Series: | Metal: Jurnal Sistem Mekanik dan Termal |
| Subjects: | |
| Online Access: | https://metal.ft.unand.ac.id/index.php/metal/article/view/145 |
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| Summary: | The paper discussed the process to find the optimum dimension for the kinematic constants of a two-degree of freedom planar parallel manipulator. This manipulator itself was constructed by symmetric three parallelogram chains. An optimization process using non-sorted dominated genetic algorithm II (NSGA-II) was carried out for maximization of (<em>i</em>) <em>r</em><sub>MIC</sub> (the radius of the maximum inscribed circle) and GCI (global conditioning index), and (ii) <em>r</em><sub>MIC</sub> and GTI (global transmission index). Here, GCI and GTI were evaluated on the useful workspace. Instead of using atlases of performance indices, a grid search evaluation was applied to obtain a region in PDS near the optimum values for both maximization cases. This region gave a small bound for NSGA-II to start searching the optimum values of the kinematic constants. For simplification, a python framework for the multi-objective optimization called pymoo was applied to solve the optimization problem. Henceforth, the maximization for two cases yielded an insignificant difference of results in terms of optimum kinematic constants, <em>r</em><sub>MIC</sub>, GCI, GTI, area of useful workspace, area of good condition workspace (GCW), area of good transmission workspace (GTW), and the area ratio of GCW and GTW to the useful workspace. |
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| ISSN: | 2598-1137 2597-4483 |