Title: Optimum design of 3R manipulator using hybrid PSOGSA algorithm

Authors: S. Panda; D. Mishra; B.B. Biswal

Addresses: Department of Mechanical Engineering, VSS University of Technology, 768018, Odisha, India ' Department of Production Engineering, VSS University of Technology, 768018, Odisha, India ' National Institute of Technology (NIT), Shilong, 793003, Meghalaya, India

Abstract: Larger workspace volume is one of the most important objectives in the optimum design of robot manipulator. In the present study, the workspace volume of a 3R manipulator has been maximised. The nonlinear constrained optimisation problem has been solved using the particle swarm optimisation (PSO) and a hybrid PSO and gravitational search algorithm (GSA). The proposed algorithm combines the search method of PSO and GSA with enhanced exploration ability to achieve higher workspace volume as compared to the established available results. Further, the total void cross section area has been estimated and a quantitative analysis of the results has been made to identify the key influencing kinematic parameters and prioritise the constraints. Applications of the hybrid algorithm on two industrial manipulators are presented as case studies. An important implication of this article is that the proposed hybrid algorithm provides encouraging result in terms of objective function values and CPU time.

Keywords: workspace; particle swarm optimisation; PSO; gravitational search algorithm; GSA; CPU time; manipulator.

DOI: 10.1504/IJMRS.2021.115135

International Journal of Mechanisms and Robotic Systems, 2021 Vol.5 No.1/2, pp.111 - 142

Received: 26 Apr 2018
Accepted: 10 Jul 2018
Published online: 20 May 2021 *

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