Authors: S. Panda; D. Mishra; B.B. Biswal
Addresses: Department of Mechanical Engineering, Veer Surendra Sai University of Technology, Burla, Odisha, 768018, India ' Department of Production Engineering, Veer Surendra Sai University of Technology, Burla, Odisha, 768018, India ' National Institute of Technology, Shilong, Meghalaya, 793003, India
Abstract: Optimum workspace with a compact manipulator is one of the decisive factors in the optimum design of robot manipulator. In this article the workspace volume of a 3R robot manipulator has been optimised on a multi-objective basis using differential evolution (DE) algorithm. An additional objective of this study is to synthesise the total void cross-section area. The proposed algorithm is tested on four diverse examples. The result obtained are compared with the results available in the literature. The key design kinematic parameters are identified through a statistical analysis. To ensure the practical applicability the proposed design approach has been tested on two industrial manipulators viz. KUKA KR-30 and Mitsubishi MRP-700A. Furthermore, it has been found that the predicted results of the simulation are in excellent agreement with the actual values.
Keywords: optimisation; differential evolution; manipulator; workspace volume; CPU time.
International Journal of Intelligent Machines and Robotics, 2019 Vol.1 No.3, pp.210 - 236
Received: 04 Sep 2018
Accepted: 12 Oct 2018
Published online: 26 Aug 2019 *