A multi-objective trajectory planning scheme for parallel assembly mechanism with B-spline curves

An assembly mechanism based on the 6-UPU parallel manipulator is developed for the automated assembly of cabins. In this paper, the B-spline curves are employed to design the motion trajectories of the upper platform. The total motion time, energy consumption and the maximum absolute value of actuator's jerk are defined as three cost functions to evaluate the performance of trajectory. Artificial Immune Algorithm is used to solve the constrained multi-objective trajectory optimization problem. The trajectories of the actuators can also be obtained via the inverse kinematics model. The simulation results have confirmed that the proposed trajectory planning scheme is very effective to meet different requirements of pose adjustment.