Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator

Dan Zhang, Zhen Gao

Research output: Journal article publicationJournal articleAcademic researchpeer-review

72 Citations (Scopus)

Abstract

In this paper, a bio-inspired parallel manipulator with one translation along z-axis and two rotations along x- and y- axes is developed as the hybrid head mechanism of a groundhog robotic system. Several important issues including forward kinematic modeling, performance mapping, and multi-objective improvement are investigated with specific methods or technologies. Accordingly, the forward kinematics is addressed based on the integration of radial basis function network and inverse kinematics. A novel performance index called dexterous stiffness is defined, derived and mapped. The multi-objective optimization with particle swarm algorithm is conducted to search for the optimal dexterous stiffness and reachable workspace.

Original languageEnglish
Pages (from-to)484-492
Number of pages9
JournalRobotics and Computer-Integrated Manufacturing
Volume28
Issue number4
DOIs
Publication statusPublished - Aug 2012
Externally publishedYes

Keywords

  • Bio-inspired mechanism
  • Forward kinematics
  • Multi-objective optimization
  • Parallel manipulator
  • Performance analysis

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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