Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator

Authors:
Dan Zhang;Zhen Gao
Affiliations:
Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, L1H 7K4 Canada and Qingdao Technological University, Qingdao 266033, China;Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, L1H 7K4 Canada
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2012

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Abstract

In this paper, a bio-inspired parallel manipulator with one translation along z-axis and two rotations along x- and y- axes is developed as the hybrid head mechanism of a groundhog robotic system. Several important issues including forward kinematic modeling, performance mapping, and multi-objective improvement are investigated with specific methods or technologies. Accordingly, the forward kinematics is addressed based on the integration of radial basis function network and inverse kinematics. A novel performance index called dexterous stiffness is defined, derived and mapped. The multi-objective optimization with particle swarm algorithm is conducted to search for the optimal dexterous stiffness and reachable workspace.