Title :
Kinematic analysis and optimization for 4PUS-RPU mechanism
Author :
Dan Zhang ; Bin Wei
Author_Institution :
Inst. of Technol., Univ. of Ontario, Oshawa, ON, Canada
Abstract :
In this paper, an approach based on the particle swarm optimization is used to multi-objective optimize the global compliance and global condition index of the 4PUS-RPU mechanism. The kinematic analysis of the mechanism is first analyzed. Then the compliance model of the mechanism is derived and the sum of the leading diagonal elements of the compliance matrix, which is also known as the global compliance, is used as a criterion to evaluate the mechanism´s rigidity. Secondly, the global condition index, which is derived based on the Monte Carlo method, is used as a criterion to evaluate the workspace of the mechanism. Increasing the workspace of mechanism will increase the compliance of the mechanism; here the global compliance and the global condition index of the mechanism are optimized simultaneously based on the particle swarm optimization. Finally the optimized results are analyzed and compared.
Keywords :
Monte Carlo methods; manipulator kinematics; matrix algebra; particle swarm optimisation; shear modulus; 4PUS-RPU mechanism kinematic analysis; Monte Carlo method; global compliance matrix optimization; global condition index optimization; mechanism rigidity; multiobjective optimization; particle swarm optimization; Indexes; Joints; Kinematics; Legged locomotion; Monte Carlo methods; Optimization; Particle swarm optimization;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on
Conference_Location :
Busan
DOI :
10.1109/AIM.2015.7222553
