Kinematic synthesis of a reconfigurable robot manipulator with lattice morphing mechanisms based on enhanced QPSO

A kinematic synthesis approach of a modular reconfigurable robot manipulator with lattice morphing mechanisms is proposed to find the optimal robot configuration with the minimum weight. First, the structure features and types of lattice mechanisms are introduced. Then, a synthesis approach using an enhanced QPSO (Quantum-behaved Particle Swarm Optimization) to get the optimal robot configuration with the minimum lattice is presented. Finally, a computation example is given to show the optimization process. The obtained results demonstrate the feasibility of this approach.