Stiffness optimization of a 3-DOF parallel kinematic machine using particle swarm optimization

Qingsong Xu, Yangmin Li

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

11 Citations (Scopus)

Abstract

In this paper, the architectural parameters optimization of a three-prismatic-universal-universal (3-PUU) parallel kinematic machine (PKM) with three translational degree-of-freedom (DOF) is performed using the efficient particle swarm optimization (PSO) to achieve the optimum stiffness characteristics. Based on the stiffness matrix derived previously, the minimum stiffness over a cubic usable workspace is considered as a performance index since the manipulation accuracy of the PKM is dependent on the minimum stiffness throughout the workspace. To illustrate the efficiency of the PSO approach, both the traditional direct search method and the genetic algorithm (GA) are applied to the optimization as a comparison. The simulation results show that the PSO is the best method for the optimization, and the results are valuable in designing a 3-PUU PKM for machine tool applications.
Original languageEnglish
Title of host publication2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages1169-1174
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China
Duration: 17 Dec 200620 Dec 2006

Conference

Conference2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
CountryChina
CityKunming
Period17/12/0620/12/06

Keywords

  • Optimal design
  • Parallel manipulators
  • Stiffness
  • Workspace

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering

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