Minimization of Performance Error for A Planar Robot by Tolerance Optimization using an Evolutionary Algorithm

Abstract

This paper is approached in a different way to consider mixed type of tolerance combinations from the fine (F), medium (M) and coarse (C) type tolerance class applied on the links length of a three-link planar parallel manipulator. The optimal links length and optimal mixed tolerance combination are obtained through Genetic Algorithm (GA) with the minimization of three objectives such as positional error, assembly cost and joint torque. Positional and angular deviations of optimum links length are plotted for the target curve. Finally the variations due to the optimal links length from the true links length is illustrated for a defined trajectory through inverse kinematics.