Design Optimization of a 3 DOF Translational Parallel Manipulator
S. Ramana Babu1, V. Ramachandra Raju2, K. Ramji3
1S. Ramana Babu, Department of Mechanical Engineering, Raghu Engineering College, Visakhapatnam, India.
2Dr. V. Ramachandra Raju, Department of Mechanical Engineering, Jawaharlal Nehru Technological University, Kakinada, India.
3Dr. K. Ramji, Department of Mechanical Engineering, Andhra University, Visakhapatnam, India.
Manuscript received on January 03, 2015. | Revised Manuscript received on January 24, 2015. | Manuscript published on February 28, 2015. PP: 8-17 | Volume-4 Issue-3, February 2015. | Retrieval Number:  C3692024315/2013©BEIESP

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Abstract: This paper presents an optimal kinematic design of a 3PRC (prismatic-revolute-cylindrical) spatial translational parallel manipulator with inclined actuator arrangement by formulating a multi-objective optimization problem. Three performance criteria’s namely Global Conditioning Index (GCI), Global stiffness Index (GSI) and Workspace volume are considered as the objective functions. A multi-objective evolutionary algorithm based on the control elitist nondominated sorting genetic algorithm (CENSGA) is adopted to find the final approximation set.
Keywords: GCI, GSI, Multi-objective genetic algorithm, Pareto front, GA, CENSGA.