Robotics and control by rk mittal5/27/2023 Mater Manuf Process 18:341–354īox GEP, Jenkins GM, Gregory CR (1994) Time series analysis: forecasting and control, 3rd edn. It is observed that differential evolution algorithm provides optimal results with lesser computations compared to genetic algorithm.īagchi TP (2003) Multi-objective robust design by genetic algorithms. The performance of this approach has been compared with modified genetic algorithm. Proposed approach has been illustrated by selecting optimal parameters and tolerance of a 2-DOF RR planar manipulator. To determine the optimal parameters and tolerances, a modification in differential evolution algorithm is proposed, which helps in incorporating the effect of uncertainty in optimization process. This paper presents an offline approach to select optimal parameters and tolerance simultaneously which minimizes the manufacturing cost and delivers the target performance level. There have been almost no attempts to optimize these parameters and tolerance of the manipulator, by which performance variations will be minimum. However, variations in performance of the manipulator are attributed to improper selection of dimensions of design and process parameters and its tolerance. For precise industrial applications, a manipulator must have high positioning accuracy and repeatability.
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