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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Autores principales:	Yin Gao, Ke Chen, Hong Gao, Hongmei Zheng, Lei Wang, Kerong Jiang
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi-Wiley 2021
Materias:	Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/3f5af36e1190468e9a4cbab12a2ddbad
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spelling	oai:doaj.org-article:3f5af36e1190468e9a4cbab12a2ddbad2021-11-29T00:56:34ZIBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption1099-052610.1155/2021/4920739https://doaj.org/article/3f5af36e1190468e9a4cbab12a2ddbad2021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/4920739https://doaj.org/toc/1099-0526For 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.Yin GaoKe ChenHong GaoHongmei ZhengLei WangKerong JiangHindawi-WileyarticleElectronic computers. Computer scienceQA75.5-76.95ENComplexity, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electronic computers. Computer science QA75.5-76.95
spellingShingle	Electronic computers. Computer science QA75.5-76.95 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
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
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
title	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_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_sort	iboa-based optimization of cross-sectional dimension of rods for a 3-rrr ppm to minimize energy consumption
publisher	Hindawi-Wiley
publishDate	2021
url	https://doaj.org/article/3f5af36e1190468e9a4cbab12a2ddbad
work_keys_str_mv	AT yingao iboabasedoptimizationofcrosssectionaldimensionofrodsfora3rrrppmtominimizeenergyconsumption AT kechen iboabasedoptimizationofcrosssectionaldimensionofrodsfora3rrrppmtominimizeenergyconsumption AT honggao iboabasedoptimizationofcrosssectionaldimensionofrodsfora3rrrppmtominimizeenergyconsumption AT hongmeizheng iboabasedoptimizationofcrosssectionaldimensionofrodsfora3rrrppmtominimizeenergyconsumption AT leiwang iboabasedoptimizationofcrosssectionaldimensionofrodsfora3rrrppmtominimizeenergyconsumption AT kerongjiang iboabasedoptimizationofcrosssectionaldimensionofrodsfora3rrrppmtominimizeenergyconsumption
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IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption

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