In order to improve the geometric positioning accuracy of robot end-effectors and allocate geometric parameter tolerances reasonably in the initial design stage of robot precision,a multi-objective tolerance optimization allocation method based on fast non-dominated sorting genetic algorithm (NSGA-II) with elite strategy was proposed. ROKAE XB76-DOF serial robot was studied,and the minimum cost single-objective tolerance optimal allocation based on genetic algorithm (GA) and NSGA-Ⅱ multi-objective tolerance optimal allocation method were used to optimize the tolerance allocation of DH(Denavit-Hartenberg) parameters. In the case of the same precision design objectives and genetic algorithm parameter settings,compared with the minimum cost geometric parameter tolerance optimization allocation based on the genetic algorithm,the multi-objective optimal allocation based on NSGA-Ⅱ could provide a series of optimal solutions with different manufacturing costs and different precision design requirements. The relaxation rate of tolerance is relatively high,and the result of parameter tolerance optimization is better.
serial robotpositioning accuracytolerance optimization allocationmulti-objective optimization
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