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 language | English |
|---|---|
| Pages (from-to) | 484-492 |
| Number of pages | 9 |
| Journal | Robotics and Computer-Integrated Manufacturing |
| Volume | 28 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Aug 2012 |
| Externally published | Yes |
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