A Novel 6 DOFs Parallel Robot Used in the Airline Assembling
نویسندگان
چکیده
In this paper, a novel 6 Degree of Freedom (DOF) parallel manipulator was presented used for airplane assembling. Because of many advantages, parallel robot is perfect used in this special application. A variant of Stewart-liked configuration was adapted as the main structure. After inverse kinematics analysis, stiffness analysis, accuracy analysis, dexterity analysis, multiobjective optimizations were conducted. This paper present a different multiobjective Differential evolution (DE) algorithm to handle the nonlinear, multivariable, multi-model objective function. This fresh algorithm considers nondominance and crowding distance at the same time on the selection stage. At the same time, it maintains a extra archive to store the best solution and tailor its size at each iteration.
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