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

Qingsong Xu; Yangmin Li

doi:10.1109/ROBIO.2006.340094

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

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-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 language	English
Title of host publication	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages	1169-1174
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2006.340094
Publication status	Published - 1 Dec 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China Duration: 17 Dec 2006 → 20 Dec 2006

Conference

Conference	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Country/Territory	China
City	Kunming
Period	17/12/06 → 20/12/06

Keywords

Optimal design
Parallel manipulators
Stiffness
Workspace

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering

More information

10.1109/ROBIO.2006.340094

Cite this

@inproceedings{161c82c66114492e89af3560d6318019,

title = "Stiffness optimization of a 3-DOF parallel kinematic machine using particle swarm optimization",

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.",

keywords = "Optimal design, Parallel manipulators, Stiffness, Workspace",

author = "Qingsong Xu and Yangmin Li",

year = "2006",

month = dec,

day = "1",

doi = "10.1109/ROBIO.2006.340094",

language = "English",

isbn = "1424405718",

pages = "1169--1174",

booktitle = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

note = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 ; Conference date: 17-12-2006 Through 20-12-2006",

}

Stiffness optimization of a 3-DOF parallel kinematic machine using particle swarm optimization. / Xu, Qingsong; Li, Yangmin.
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. 2006. p. 1169-1174 4142031.

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

TY - GEN

T1 - Stiffness optimization of a 3-DOF parallel kinematic machine using particle swarm optimization

AU - Xu, Qingsong

AU - Li, Yangmin

PY - 2006/12/1

Y1 - 2006/12/1

N2 - 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.

AB - 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.

KW - Optimal design

KW - Parallel manipulators

KW - Stiffness

KW - Workspace

UR - http://www.scopus.com/inward/record.url?scp=46249107969&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2006.340094

DO - 10.1109/ROBIO.2006.340094

M3 - Conference article published in proceeding or book

SN - 1424405718

SN - 9781424405718

SP - 1169

EP - 1174

BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Y2 - 17 December 2006 through 20 December 2006

ER -

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this