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Error analysis and optimal design of a class of translational parallel kinematic machine using particle swarm optimization
Xu Q.; Li Y.
2009
Source PublicationRobotica
ISSN02635747 14698668
Volume27Issue:1Pages:67-78
Abstract

In this paper, the optimization of architectural parameters for a class of translational parallel kinematic machine (PKM) is performed with the particle swarm optimization (PSO) to achieve the best accuracy characteristics. The conventional error transformation matrix (ETM) is derived based on the differentiation of kinematic equations, and a new error amplification index (EAI) over a usable workspace is proposed as an error performance index for the optimization. To validate the efficiency of the PSO method, both the traditional direct search method and the genetic algorithm (GA) are implemented as well. The simulation results not only show the advantages of PSO method for the architectural optimization, but also reveal the necessity to introduce the EAI for the optimal design. And the results are valuable for architectural design of the PKM for machine tool applications. © 2008 Cambridge University Press.

KeywordAccuracy Error Model Optimal Design Parallel Manipulators Workspace
DOI10.1017/S0263574708004530
URLView the original
Indexed BySCI
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000262324700008
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被引频次[WOS]:35   [WOS记录]     [WOS相关记录]
Document TypeJournal article
专题DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
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Xu Q.,Li Y.. Error analysis and optimal design of a class of translational parallel kinematic machine using particle swarm optimization[J]. Robotica,2009,27(1):67-78.
APA Xu Q.,&Li Y..(2009).Error analysis and optimal design of a class of translational parallel kinematic machine using particle swarm optimization.Robotica,27(1),67-78.
MLA Xu Q.,et al."Error analysis and optimal design of a class of translational parallel kinematic machine using particle swarm optimization".Robotica 27.1(2009):67-78.
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