Sintesis Dimensi Manipulator Paralel Bidang Dua Derajat Kebebasan Dengan Rantai Kinematik Paralelogram Simetris
| Autor: | Adriyan Adriyan |
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| Rok vydání: | 2021 |
| Předmět: | |
| Zdroj: | METAL: Jurnal Sistem Mekanik dan Termal. 5:72 |
| ISSN: | 2597-4483 2598-1137 |
| DOI: | 10.25077/metal.5.2.72-85.2021 |
| Popis: | 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 ( i ) r MIC (the radius of the maximum inscribed circle) and GCI (global conditioning index), and (ii) r MIC 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, r MIC , 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. |
| Databáze: | OpenAIRE |
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