Accuracy-based architecture optimization of a 3-DOF parallel kinematic machine

Qingsong Xu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

In this paper, the architectural parameters optimization of a three degree-of-freedom (DOF) parallel kinematic machine (PKM) with three PUU (prismatic-universal-universal) links is performed using the efficient particle swarm optimization (PSO) to achieve the best accuracy characteristics. The error transformation matrix (ETM) is derived based on the differentiation of kinematic equations, and the lowest value of the maximum singular value of the ETM over a usable workspace is considered as an error performance index for the optimal design. To emphasize the efficiency of the PSO method, both the traditional direct search method and the genetic algorithm (GA) are compared with it. The simulation results demonstrate that the PSO is the best method for the optimization, and the analysis results are valuable in designing and controlling a 3-PUU PKM for machine tool applications.
Original languageEnglish
Title of host publication2006 IEEE International Conference on Automation Science and Engineering, CASE
Pages63-68
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2007
Externally publishedYes
Event2006 IEEE International Conference on Automation Science and Engineering, CASE - Shanghai, China
Duration: 8 Oct 200610 Oct 2006

Conference

Conference2006 IEEE International Conference on Automation Science and Engineering, CASE
Country/TerritoryChina
CityShanghai
Period8/10/0610/10/06

Keywords

  • Accuracy
  • Error model
  • Optimal design
  • Parallel manipulators
  • Workspace

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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