Kinematic analysis and optimization for 4PUS-RPU mechanism

Author

Dan Zhang ; Bin Wei

Author_Institution

Inst. of Technol., Univ. of Ontario, Oshawa, ON, Canada

fYear

2015

fDate

7-11 July 2015

Firstpage

330

Lastpage

335

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on

Conference_Location

Busan

Type

conf

DOI

10.1109/AIM.2015.7222553

Filename

7222553