A New Approach to the Design of a DELTA Robot with a Desired Workspace
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Robotics and Computer-Integrated Manufacturing
The particle swarm - explosion, stability, and convergence in amultidimensional complex space
IEEE Transactions on Evolutionary Computation
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ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
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ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Robotics and Computer-Integrated Manufacturing
Robotics and Computer-Integrated Manufacturing
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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.