IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption
For obtaining optimal cross-sectional dimensions of rods for a 3-RRR planar parallel manipulator (PPM) to minimize energy consumption, the inverse dynamics of the manipulator is modeled based on the Newton–Euler method, after which the coefficient matrix of the inverse dynamics equation is decompose...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/4920739 |
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| author | Yin Gao Ke Chen Hong Gao Hongmei Zheng Lei Wang Kerong Jiang |
| author_facet | Yin Gao Ke Chen Hong Gao Hongmei Zheng Lei Wang Kerong Jiang |
| author_sort | Yin Gao |
| collection | DOAJ |
| description | For obtaining optimal cross-sectional dimensions of rods for a 3-RRR planar parallel manipulator (PPM) to minimize energy consumption, the inverse dynamics of the manipulator is modeled based on the Newton–Euler method, after which the coefficient matrix of the inverse dynamics equation is decomposed based on matrix theory. Hence, the objective function, that is, the logical relationship between the energy consumption of the manipulator and the cross-sectional dimension of each rod, is established. However, in solving the multidimensional constrained single-object optimization problem, there are difficulties such as the penalty function’s sensitivity to the penalty factors if the problem is transformed into the one of unconstrained multiobjective optimization. Therefore, to properly handle the constraints, an improved butterfly optimization algorithm (IBOA) is presented to ensure that the new iterated point always falls into the feasible region according to the butterfly optimization algorithm (BOA). Finally, the comparisons among the IBOA, particle swarm optimization (PSO), and BOA and further experiments of the physical prototype are implemented to validate the effectiveness of the proposed theoretical model and numerical algorithm. Results indicate that the proposed IBOA is more suitable for solving the constrained single-object optimization problem with better convergence speed and accuracy. |
| format | Article |
| id | doaj-art-3f5af36e1190468e9a4cbab12a2ddbad |
| institution | Kabale University |
| issn | 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-3f5af36e1190468e9a4cbab12a2ddbad2025-02-03T01:20:13ZengWileyComplexity1099-05262021-01-01202110.1155/2021/4920739IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy ConsumptionYin Gao0Ke Chen1Hong Gao2Hongmei Zheng3Lei Wang4Kerong Jiang5School of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Advanced Manufacturing EngineeringFor obtaining optimal cross-sectional dimensions of rods for a 3-RRR planar parallel manipulator (PPM) to minimize energy consumption, the inverse dynamics of the manipulator is modeled based on the Newton–Euler method, after which the coefficient matrix of the inverse dynamics equation is decomposed based on matrix theory. Hence, the objective function, that is, the logical relationship between the energy consumption of the manipulator and the cross-sectional dimension of each rod, is established. However, in solving the multidimensional constrained single-object optimization problem, there are difficulties such as the penalty function’s sensitivity to the penalty factors if the problem is transformed into the one of unconstrained multiobjective optimization. Therefore, to properly handle the constraints, an improved butterfly optimization algorithm (IBOA) is presented to ensure that the new iterated point always falls into the feasible region according to the butterfly optimization algorithm (BOA). Finally, the comparisons among the IBOA, particle swarm optimization (PSO), and BOA and further experiments of the physical prototype are implemented to validate the effectiveness of the proposed theoretical model and numerical algorithm. Results indicate that the proposed IBOA is more suitable for solving the constrained single-object optimization problem with better convergence speed and accuracy.http://dx.doi.org/10.1155/2021/4920739 |
| spellingShingle | Yin Gao Ke Chen Hong Gao Hongmei Zheng Lei Wang Kerong Jiang IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption Complexity |
| title | IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption |
| title_full | IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption |
| title_fullStr | IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption |
| title_full_unstemmed | IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption |
| title_short | IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption |
| title_sort | iboa based optimization of cross sectional dimension of rods for a 3 rrr ppm to minimize energy consumption |
| url | http://dx.doi.org/10.1155/2021/4920739 |
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