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 A Publication of a paper in Mechanism and Machine Theory

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zaatri
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PostSubject: A Publication of a paper in Mechanism and Machine Theory   Thu 15 Dec - 1:58


A New paper in the Journal: Mechanism and Machine Theory


Multiobjective optimization of a linear Delta parallel robot

Ridha Kelaiaiaa, b, Corresponding Author Contact Information, E-mail The Corresponding Author, Olivier Companyb, E-mail The Corresponding Author, Abdelouahab Zaatric, E-mail The Corresponding Author
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a M.E Department, Faculty of Technology, University of 20 August 1955, Skikda, Algeria
b The Montpellier Laboratory of Informatics Robotics and Microelectronics, UMR 5506 CNRS-UM2, 161 rue Ada, 34392 Montpellier Cedex 5, France
c Laboratory of Advanced technology Applications, University of Constantine, Algeria

Received 22 March 2011; revised 25 October 2011; Accepted 4 November 2011. Available online 12 December 2011.
Abstract

The dimensional synthesis remains a capital phase in the optimal design of the parallel robots. In this article, we propose a methodology of the dimensional synthesis where the problem is expressed in terms of multiobjective optimization by taking account simultaneously several criteria of performance. The proposed methodology can be structured as follows: 1/Geometric, kinematic and dynamic modeling of the chosen structure, 2/Evaluation of the criteria of performance (workspace, stiffness, kinematic and dynamic performances), 3/Definition of constraints related to the studied structure of the robot, 4/Mathematical formulation of the multiobjective optimization problem and 5/Application of genetic algorithm SPEA-II for the problem resolution. Finally, we present an illustrative application of the methodology developed for a linear Delta parallel robot with three degrees of freedom.
Highlights

► We present an approach of dimensional synthesis for parallel robots. ► The problem will be defined as a multiobjective optimization. ► The method of genetic algorithms is used to solve this problem. ► Application to the linear Delta parallel robot.

Keywords: Parallel robots; Criteria of performance; Multiobjective optimization; Genetic algorithms SPEA-II
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bbounab

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PostSubject: Re: A Publication of a paper in Mechanism and Machine Theory   Fri 23 Dec - 15:29

Félicitations Ridha, bonne continuation inchAllah
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Ridha36



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PostSubject: Re: A Publication of a paper in Mechanism and Machine Theory   Mon 26 Dec - 13:57

Merci Belkacem, idem pour toi.
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bbounab

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PostSubject: Re: A Publication of a paper in Mechanism and Machine Theory   Tue 27 Dec - 21:02

merci Ridha,
En fait, nous sommes entrain d'étudier la faisabilité d'utiliser le robot delta pour des opérations d'usinage (fraisage 3 axes), nous pouvons discuter un jour sur l'ensemble de nos travaux d'optimisation, ...

merci
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Ridha36



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PostSubject: Re: A Publication of a paper in Mechanism and Machine Theory   Mon 2 Jan - 13:06

Bonjour Belkacem,
oui bien sûr, c'est avec un grand plaisir, je suis à votre disposition.

Merci.
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