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Architecture optimization of 4PUS+1PS parallel manipulator

Published online by Cambridge University Press:  10 September 2010

G. Abbasnejad ,
H. M. Daniali  and
A. Fathi
G. Abbasnejad
Affiliation:
Department of Mechanical Engineering, Babol University of Technology, P.O. Box 484, Babol, Iran
H. M. Daniali*
Affiliation:
Department of Mechanical Engineering, Babol University of Technology, P.O. Box 484, Babol, Iran
A. Fathi
Affiliation:
Department of Mechanical Engineering, Babol University of Technology, P.O. Box 484, Babol, Iran
*
*Corresponding author. E-mail: mohammadi@nit.ac.ir
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The main goal of this paper is the design of 4PUS+1PS parallel manipulator, using an optimization problem that takes into accounts the characteristics of the workspace and dexterity. The optimization problem is formulated considering constraints on actuated and passive joint limits. A comparison between quantum particle swarm Optimization (QPSO) and PSO is developed. Two numerical examples are presented, which reveal the advantages of QPSO to PSO. Moreover, it is shown that by introducing the dexterity index as a quality measure throughout the workspace, the parallel manipulator is improved at the cost of a minor reduction in its workspace.

Keywords

Parallel manipulatorWorkspaceDexterity indexOptimizationPSOQPSO

Information

Type
Articles
Information
Robotica , Volume 29 , Issue 5 , September 2011 , pp. 683 - 690
Copyright
Copyright © Cambridge University Press 2010

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