کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
414475 | 680957 | 2012 | 9 صفحه PDF | دانلود رایگان |
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.
► The forward kinematics problem of the proposed mechanism is solved with a numerical method.
► The dexterous stiffness map is developed and generated.
► The stiffness and workspace are optimized with particle swarm algorithm.
► The proposed methodologies and technologies are also suitable for the analysis of other mechanisms.
Journal: Robotics and Computer-Integrated Manufacturing - Volume 28, Issue 4, August 2012, Pages 484–492