کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
414475 680957 2012 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator
چکیده انگلیسی

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.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 28, Issue 4, August 2012, Pages 484–492
نویسندگان
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