The multi-object optimization of a spatial cable-driven parallel manipulator

doi:10.3969/j.issn.1000-5641.2015.01.018

Abstract

Abstract: This paper investigates the multi-object optimization for a spatial 6-DOF (degree-of-freedom) cable-driven parallel manipulator. The optimization based on an NN (neural network)-genetic algorithm was carried out respectively with regarded to workspace volume, the minimum tension and global dexterity index, then three groups of satisfactory solutions were obtained. Furthermore, the weight coefficients for the multi-object optimization model were gained through the grey clustering method. The results show that the NN-genetic algorithm is effective for the structural optimization and can provide a useful reference for the optimal design of similar manipulators

Key words: cable-driven parallel manipulator, multi-object structural optimization, neural network, genetic algorithm, grey clustering method

CLC Number:

O224

CHEN Jie, SUN Xiao-Long, MO Wei. The multi-object optimization of a spatial cable-driven parallel manipulator[J]. Journal of East China Normal University(Natural Sc, 2015, 2015(1): 142-150.

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