Optimize the redundant 6-DOF Stewart Platform based on ant colony optimization

Author

Zhang Lei ; Dai Xiaolin

Author_Institution

Sch. of Phys. & Electron., Henan Univ., Kaifeng, China

fYear

2013

fDate

12-13 Oct. 2013

Firstpage

1238

Lastpage

1241

Abstract

We put forward the proposal of three attached passive redundancy legs, in order to improve the drive capability of electric 6-DOF Stewart Platform. First, we build the dynamic model of 6-DOF Stewart Platform and analyze its driving force in typical working conditions, and then we use ant colony optimization to find the optimal allocation and driving force of the three passive redundancy legs. We also set the SimMechanics model to simulate the non-redundant parallel mechanism and optimized redundant parallel mechanism. The results of simulation show that the redundant driving reduces the peak of driving force effectively, which verify the effectiveness of this method.

Keywords

ant colony optimisation; electric machines; legged locomotion; SimMechanics model; ant colony optimization; dynamic model; electric 6-DOF Stewart Platform; nonredundant parallel mechanism; passive redundancy legs; redundant 6-DOF Stewart platform; working conditions; Ant colony optimization; Fasteners; Force; Legged locomotion; Mathematical model; Optimization; Redundancy; Parallel mechanism; ant colony optimization; redundancy; stewart Platform;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Network Technology (ICCSNT), 2013 3rd International Conference on

Conference_Location

Dalian

Type

conf

DOI

10.1109/ICCSNT.2013.6967326

Filename

6967326