A generalized profile optimization method for circular and variable radius pulleys in pneumatic manipulators

This paper presents a possible solution to the problem stated in a recently published paper. The main objective is to enlarge the torque capacity across a prescribed stiffness range so that the performance-stiffness sensitivity can be decreased. A generalized calculation framework for both circular and variable radius pulleys in pneumatic manipulators is proposed, which describes the relationship between the profile function and the dynamic characteristics. Then five practical constraints are introduced and three optimization objectives are suggested. In view of the fact that it is easy for the traditional optimization methods to be trapped into local optima, an optimization approach based on genetic algorithms is used in the paper, in the design of which the execution time of the algorithm is also taken into consideration. The results presented illustrate the effectiveness of the proposed approach.