Multiobjective optimization of an agile machining type linear delta structure

Abstract

The innovative architectures design of agile machines dedicated to the machining at high speed requires the implementation of analytical and numerical models for the optimization of the kinematic, static and dynamic behavior of the machine, taking into account the elastic deformations and their compensation at level of machine control. In the context of multi-objective optimization, the first part is to identify the parameters and variables inherent to each constituent element of a DELTA robot type machine, the purpose is to optimize the essential elements of its structure. This requires a formulation of the multi-objective problem by expressing the objective functions, the constraints and the corresponding search spaces, as well as the resolution of the problem by the use of high-performance mathematical methods and tools (genetic algorithms, etc.).