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

Qingsong Xu; Yangmin Li

doi:10.1109/COASE.2006.326856

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

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

5 Citations (Scopus)

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 language	English
Title of host publication	2006 IEEE International Conference on Automation Science and Engineering, CASE
Pages	63-68
Number of pages	6
DOIs	https://doi.org/10.1109/COASE.2006.326856
Publication status	Published - 1 Dec 2007
Externally published	Yes
Event	2006 IEEE International Conference on Automation Science and Engineering, CASE - Shanghai, China Duration: 8 Oct 2006 → 10 Oct 2006

Conference

Conference	2006 IEEE International Conference on Automation Science and Engineering, CASE
Country/Territory	China
City	Shanghai
Period	8/10/06 → 10/10/06

Keywords

Accuracy
Error model
Optimal design
Parallel manipulators
Workspace

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

More information

10.1109/COASE.2006.326856

Cite this

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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.",

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AU - Li, Yangmin

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AB - 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.

KW - Accuracy

KW - Error model

KW - Optimal design

KW - Parallel manipulators

KW - Workspace

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BT - 2006 IEEE International Conference on Automation Science and Engineering, CASE

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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