Design of a Parallel Manipulator Based on Multi-Objective Self-Adaptive Differential Evolution Algorithm

Abstract

In order to improve highly non-isotropic input-output relations in the optimal design of a parallel robot, this paper presents a method based on a multi-objective self-adaptive differential evolution (MOSaDE) algorithm.The approach considers a solution-diversity mechanism coupled with a memory of those sub-optimal solutions found during the process. In theMOSaDE algorithm, both trial vector generation strategies and their associated control parameter values were gradually self-adapted by learning from their previous experiences in generating promising solutions. Consequently, a more suitable generation strategy along with its parameter settings could be determined adaptively to match different phases of the search processevolution.Furthermore, a constraint-handling mechanism is added to bias the search to the feasible region of the search space. The obtained solution will be a set of optimal geometric parameters and optimal PID control gains. The empirical analysis of thenumerical results shows the efficiency of the proposed algorithm.