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Multi-objective Optimization of a Parallel Fine-tuning Manipulator for Segment Assembly Robots in Shield Tunneling Machines

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Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

A new 6-DOF serial/parallel hybrid segment assembly robot that includes a 3-DOF redundant parallel orientation fine-tuning manipulator is developed. Redundancy can, in general, improve the ability and performance of parallel manipulators by implementing the redundant degree of freedom to optimize the objective function. A multi-objective optimization model of the proposed manipulator is likewise established with consideration of kinematic and dynamic dexterity, load-bearing capacity, stiffness, and actuating force equilibrium. To accomplish optimization, a new multi-objective optimization method is proposed using the application Isight, which integrates various engineering softwares. Results indicate that this method can automatically accomplish the calculation of the kinematic and dynamic performance index, modeling, and solving using Isight. Thus, decision makers can select the proper optimal solution based on the obtained Pareto plot and Pareto frontier. Finally, optimizing its design variables considerably improves the performance of the proposed parallel manipulator.

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Acknowledgments

This work was financially supported by the National Natural Science Foundation of China (Grant No. 51175143) and the Natural Science Foundation of Hebei Province (Grant No. E2015402130).

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Authors and Affiliations

  1. College of Equipment Manufacturing, Hebei University of Engineering, Handan, China

    Guohua Cui, Haidong Zhou & Yanwei Zhang

  2. Zhejiang Provincial Special Equipment Inspection and Research Institute, Hangzhou, China

    Haibin Zhou

Authors
  1. Guohua Cui
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  2. Haidong Zhou
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  3. Yanwei Zhang
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  4. Haibin Zhou
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Corresponding author

Correspondence to Yanwei Zhang .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Lassonde School of Engineering York Univ Department of Mechanical Engineering, Toronto, Ontario, Canada

    Dan Zhang

  2. Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, Canada

    Bin Wei

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Cui, G., Zhou, H., Zhang, Y., Zhou, H. (2017). Multi-objective Optimization of a Parallel Fine-tuning Manipulator for Segment Assembly Robots in Shield Tunneling Machines. In: Zhang, D., Wei, B. (eds) Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-33581-0_17

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  • DOI: https://doi.org/10.1007/978-3-319-33581-0_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33580-3

  • Online ISBN: 978-3-319-33581-0

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