Multi-Objective Structural Parameter Optimization for Stewart Platform via NSGA-III and Kolmogorov–Arnold Network
Year: 2025
Type: article
Abstract: The structural parameters of Stewart platforms play a critical role in enhancing dynamic performance, improving motion accuracy, and enabling effective control strategies. However, practical applications face several key limitations, including the metric balancing for optimization, the limited singularity-free workspace, and low computational efficiency. To overcome those shortcomings, this work proposes a multi-objective optimal design of the structural parameters for Stewart platform based on Non-dominated Sorting Genetic Algorithm III (NSGA-III) and Kolmogorov–Arnold Network (KAN). Firstly, under the stroke constraints of the Stewart platform, this work focuses on optimizing the platform’s key structural parameters. This approach enables both the optimization of existing equipment and the design of new devices. Secondly, this work employs KAN to establish a model that characterizes the relationship between the structural parameters and diverse postures within the maximum singularity-free workspace. This approach not only enhances computational efficiency but also ensures high precision. Finally, this study proposes six performance metrics and utilizes NSGA-III to optimize the structural parameters, thereby achieving a trade-off among these diverse objectives. Simulation and experimental results demonstrate that KAN significantly outperforms the Multi-Layer Perceptron (MLP) in predicting workspace postures. Compared with MLP, KAN achieves higher prediction accuracy and lower error rates across both training and test datasets. When comparing NSGA-III with NSGA-II, the proposed approach demonstrates modest improvements in most performance metrics while preserving acceptable trade-offs between the optimization objectives.
Source: Machines
Authors: Jie Tao, Yafei Xu, Yongjun Chen, Pin Cheng, Haikun Zhang, Jianping Wang, Huicheng Zhou
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W4414543388