期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2013
卷号：53
期号：1
出版社：Journal of Theoretical and Applied
摘要：The genetic algorithm is implemented to solve the problem of accuracy synthesis for a 3-UCR (Universal-Cylindrical-Revolute) parallel robot. Accuracy synthesis is one challenging topic for the parallel robot in the precision applications. First, the kinematic model and error model are built for the 3-UCR parallel robot. Then, the accuracy synthesis model based on manufacturing cost is formulated. The synthesis problem is converted to an optimization problem taking the tolerances of all error sources as design parameters, the manufacturing cost as objective and the accuracy requirements as the constraint condition. Finally, the genetic algorithm is used to solve this constraint and nonlinear optimization problem. The simulation of a 3-UCR parallel support for the telescope secondary mirror shows that genetic algorithm is an appropriate tool to achieve the accuracy synthesis based on manufacturing cost. This approach is practical and effective, and the synthesis results can satisfy the need of pose accuracy. The synthesis result is more economical and practical than accuracy synthesis based on sensitivity which cost twice as much.
