Optimal Design of a 6-DOF Parallel Mechanism using a Genetic Algorithm

유전 알고리즘을 이용한 6자유도 병렬기구의 최적화 설계

  • 황윤권 (현대모비스 기술연구소) ;
  • 윤정원 (경상대학교기계항공공학부 항공기부품기술연구센터)
  • Published : 2007.06.01


The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.


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