Improving Dynamic Performance of Stewart Platforms through Optimal Design Based on Evolutionary Multi-objective Optimization Algorithms

DOI

10.2991/mems.2012.78How to use a DOI?

Keywords

Stewart platform; dynamic performance; MOP; EMO; optimal design

Abstract

The Stewart platform has characteristics of low natural frequency, antagonistic design objectives and always no analytical expression of both objective functions and constraints which make it difficult to obtain optimum performance with high dynamic performance. Compared with the traditional adopting indices such as manipulability, stiffness, dexterity, accuracy, etc., lowest natural frequency in the total workspace and ratio of maximum and minimum frequencies at typical configurations are developed as dynamic stability and isotropy indices respectively to improve the dynamic performance of Stewart platform. Evolutionary Multi-objective Optimization (EMO) was introduced synthetically considering the dynamic stability index, isotropy index and global dimensionally homogeneous Jacobian matrix condition number. Two typical EMO algorithms are applied for solving the Multi-objective Optimization Problem (MOP), and the algorithms performance was compared. The results are valuable in designing a Stewart platform for well dynamic capability.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lv Bangjun
AU  - Peng Likun
AU  - Ming Tingtao
PY  - 2012/12
DA  - 2012/12
TI  - Improving Dynamic Performance of Stewart Platforms through Optimal Design Based on Evolutionary Multi-objective Optimization Algorithms
BT  - Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012)
PB  - Atlantis Press
SP  - 294
EP  - 298
SN  - 1951-6851
UR  - https://doi.org/10.2991/mems.2012.78
DO  - 10.2991/mems.2012.78
ID  - Bangjun2012/12
ER  -