Speaker
Bingyan Mao
(Laboratory of Intelligent Machines)
Description
In the ITER or the future DEMO reactor systems, due to the neutron activation, the remote handling tasks such as inspection, repair and/or maintenance of in-vessel and ex-vessel components must be carried out using a wide variety of special tailored automatic manipulators. The structure of these manipulators can be designed as a pure serial articulated arm or a pure parallel mechanism, but for the sophisticated remote handling tasks requiring large workspace and high payload/weight ratio, it would be designed as a hybrid structure combined by these two mechanisms.
In this paper, a global optimization method combined by differential evolution (DE) and modified particle swarm optimization (MPSO), here we call it as DEMPSO, is developed to obtain the numerical solutions of robot kinematics. DEMPSO algorithm combines the advantages of the global optimization of differential evolution (DE) and the fast convergent rate of particle swarm optimization (PSO). The general case studies focus on the numerical solutions of the inverse kinematics of a 6-DOF serial robot, the forward kinematics of a 6-DOF parallel robot, and the forward kinematics of a 10-DOF hybrid redundant serial-parallel robot designed for ITER vacuum vessel remote maintenance. The comparison study of other optimization methods including ant colony optimization (ACO) algorithm, differential evolution (DE) algorithm, particle swarm optimization (PSO) and modified particle swarm optimization (MPSO) algorithm have also been investigated to validate the robust and efficiency of the proposed DEMPSO algorithm.
The results found in this paper would be extrapolated to solve the kinematic problems of the ITER or the future DEMO remote handling manipulators. The proposed optimization algorithm can also be used for the static and/or dynamic parameter identification in robot calibration systems.
Co-authors
Bingyan Mao
(Laboratory of Intelligent Machines, Lappeenranta University of Technology, lappeenranta, Finland;State Key Laboratory of Mechanical Transmission, Chongqing University, chongqing, China)
Heikki Handroos
(Laboratory of Intelligent Machines, Lappeenranta University of Technology, lappeenranta, Finland)
Huapeng Wu
(Laboratory of Intelligent Machines, Lappeenranta University of Technology, lappeenranta, Finland)
Yongbo Wang
(Laboratory of Intelligent Machines, Lappeenranta University of Technology, lappeenranta, Finland)
Zhijiang Xie
(State Key Laboratory of Mechanical Transmission, Chongqing University, chongqing, China)
