The forward kinematics of the 6-6 parallel manipulator using an evolutionary algorithm based on generalized generation gap with parent-centric crossover. Issue 1 (19th June 2014)

• Record Type: Journal Article
• Authors: Rolland, Luc; Chandra, Rohitash
• Is Part Of: Robotica. Volume 34:Issue 1(2016)
• Page Start: 1
• Page End: 22
• Publication Date: 2014-06-19
• Subjects: Parallel robot, -- Forward kinematics, -- Position based model, -- Genetic algorithms, -- G3-PCX; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574714001362
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: In this paper, a fast and efficient evolutional algorithm, called the G3-PCX has been implemented to solve the forward kinematics problem (FKP) of the general parallel manipulators being modeled by the6-6 hexapod, constituted by a fixed and mobile platforms being non planar and non-symmetrical. The two platforms are connected by six linear actuators, each of which is located between one ball joint and one universal joint. Forward kinematics are formulated using Inverse Kinematics applying one position based equation system which is converted into an objective function by expressing the sum of squared error on kinematics chain lengths and mobile platform distances. In less than one second, the 16 unique real solutions are computed with improved accuracy when compared to previous methods.