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The forward kinematics of the 6-6 parallel manipulator using an evolutionary algorithm based on generalized generation gap with parent-centric crossover

Published online by Cambridge University Press:  19 June 2014

Luc Rolland  and
Rohitash Chandra
Luc Rolland*
Affiliation:
Memorial University, Faculty of Engineering, St-John's, Canada
Rohitash Chandra
Affiliation:
School of Computing, Information and Mathematical Sciences, University of the South Pacific, Fiji
*
*Corresponding author. Email: lrolland@mun.ca, luc.rolland@gmail.com
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Summary

In this paper, a fast and efficient evolutional algorithm, called the G3-PCX has been implemented to solve the forward kinematics problem (FKP) of the general parallel manipulators being modeled by the 6-6 hexapod, constituted by a fixed and mobile platforms being non planar and non-symmetrical. The two platforms are connected by six linear actuators, each of which is located between one ball joint and one universal joint. Forward kinematics are formulated using Inverse Kinematics applying one position based equation system which is converted into an objective function by expressing the sum of squared error on kinematics chain lengths and mobile platform distances. In less than one second, the 16 unique real solutions are computed with improved accuracy when compared to previous methods.

Keywords

Parallel robotForward kinematicsPosition based modelGenetic algorithmsG3-PCX

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 1 , January 2016 , pp. 1 - 22
Copyright
Copyright © Cambridge University Press 2014 

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