Parameter Selection in Particle Swarm Optimization
EP '98 Proceedings of the 7th International Conference on Evolutionary Programming VII
Particle swarm approach for structural design optimization
Computers and Structures
Design and Optimization of an XYZ Parallel Micromanipulator with Flexure Hinges
Journal of Intelligent and Robotic Systems
On the maximal singularity-free ellipse of planar 3-RP R parallel mechanisms via convex optimization
Robotics and Computer-Integrated Manufacturing
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This paper presents a new algorithm to find the singularity-free cylindrical workspace of parallel manipulators. Because of the limited workspace of parallel manipulators cluttered with different types of singularities, a simple and robust technique to determine continuous singularity-free zones in the workspace of parallel manipulators is required. Here, the largest singularity-free cylinder within the workspace for any prescribed orientation ranging around a reference orientation angle of moving platform is determined. To this end, Particle Swarm Optimization is utilized to find the closest point on the singularity surface to the axis of the cylinder. By implementing the algorithm on 3-RPR planar parallel manipulator, the results show that this algorithm improves the efficiency and leads to significantly larger singularity-free workspace than those reported earlier.