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

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.