Optimal Design of an Orthogonal Generalized Parallel Manipulator Based on Swarm Particle Optimization Algorithm

被引：1
|
作者：
Peng, Lei [1 ]
Tong, Zhizhong [1 ]
Li, Chongqing [1 ]
Jiang, Hongzhou [1 ]
He, Jingfeng [1 ]
机构：
[1] Harbin Inst Technol, Dept Mechatron Engn, Harbin 150001, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT II | 2017年 / 10463卷
关键词：
Gough-Stewart parallel manipulator; Orthogonal design; A pair of composite hyperboloids; Optimization; PSO;
D O I：
10.1007/978-3-319-65292-4_29
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Study of methods to design optimal Gough-Stewart parallel manipulator geometries meeting orthogonality is of high interest. The paper will design the Orthogonal Generalized Gough-Stewart Parallel Manipulator (OGGSPM) based on the composite hyperboloids. Moreover, Particle Swarm Optimization (PSO) algorithm is introduced to perform the structure optimization as the Jacobian matrix condition number is used as the evaluation index. As an example, two different optimization cases are presented.
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页码：334 / 345
页数：12
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