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Research and Development of Methods for Solving Problems of Engineering Optimization of Robots of Parallel Structure

Student: Artem Maminov

Supervisor: Mikhail Posypkin

Faculty: HSE Tikhonov Moscow Institute of Electronics and Mathematics (MIEM HSE)

Educational Programme: Supercomputer Modeling in Science and Engineering (Master)

Final Grade: 9

Year of Graduation: 2020

In this master thesis, it is considered an approach for the optimal multi-objective constrained design of the parallel robots. Optimization is carried out according to two key criteria: the workspace area and the global dexterity index (GDI) concerning constrain. The workspace is the area that the robot can serve. The value of the GDI correlates with the quality of this service. Both objectives are maximized. However, there is a tradeoff between these goals, and they can't achieve maximums at the same point. Therefore, the solution for this problem is a Pareto-optimal frontier (the set of points, which can’t be optimized in any criteria without worsening the other). The paper describes the robot’s kinematic and singularity analysis, workspace area approximation, the GDI calculation. The Pareto-frontier for the multi-objective constrained optimization problem under consideration is constructed. It's also created representative visualization for robot workspace, singularity positions, and efficient Pareto-set.

Full text (added May 19, 2020)

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