Error analysis and optimal design of a class of translational parallel kinematic machine using particle swarm optimization
نویسندگان
چکیده
In this paper, the optimization of architectural parameters for a class of translational parallel kinematic machine (PKM) is performed with the particle swarm optimization (PSO) to achieve the best accuracy characteristics. The conventional error transformation matrix (ETM) is derived based on the differentiation of kinematic equations, and a new error amplification index (EAI) over a usable workspace is proposed as an error performance index for the optimization. To validate the efficiency of the PSO method, both the traditional direct search method and the genetic algorithm (GA) are implemented as well. The simulation results not only show the advantages of PSO method for the architectural optimization, but also reveal the necessity to introduce the EAI for the optimal design. And the results are valuable for architectural design of the PKM for machine tool applications.
منابع مشابه
AN OPTIMAL FUZZY SLIDING MODE CONTROLLER DESIGN BASED ON PARTICLE SWARM OPTIMIZATION AND USING SCALAR SIGN FUNCTION
This paper addresses the problems caused by an inappropriate selection of sliding surface parameters in fuzzy sliding mode controllers via an optimization approach. In particular, the proposed method employs the parallel distributed compensator scheme to design the state feedback based control law. The controller gains are determined in offline mode via a linear quadratic regular. The particle ...
متن کاملOPTIMAL SHAPE DESIGN OF GRAVITY DAMS BASED ON A HYBRID META-HERURISTIC METHOD AND WEIGHTED LEAST SQUARES SUPPORT VECTOR MACHINE
A hybrid meta-heuristic optimization method is introduced to efficiently find the optimal shape of concrete gravity dams including dam-water-foundation rock interaction subjected to earthquake loading. The hybrid meta-heuristic optimization method is based on a hybrid of gravitational search algorithm (GSA) and particle swarm optimization (PSO), which is called GSA-PSO. The operation of GSA-PSO...
متن کاملOPTIMAL DESIGN OF ARCH DAMS BY COMBINING PARTICLE SWARM OPTIMIZATION AND GROUP METHOD OF DATA HANDLING
Optimization techniques can be efficiently utilized to achieve an optimal shape for arch dams. This optimal design can consider the conditions of the economy and safety simultaneously. The main aim is to present an applicable and practical model and suggest an algorithm for optimization of concrete arch dams to enhance their seismic performance. To achieve this purpose, a preliminary optimizati...
متن کاملPareto Optimal Design Of Decoupled Sliding Mode Control Based On A New Multi-Objective Particle Swarm Optimization Algorithm
One of the most important applications of multi-objective optimization is adjusting parameters ofpractical engineering problems in order to produce a more desirable outcome. In this paper, the decoupled sliding mode control technique (DSMC) is employed to stabilize an inverted pendulum which is a classic example of inherently unstable systems. Furthermore, a new Multi-Objective Particle Swarm O...
متن کاملOPTIMAL GROUND MOTION SCALING USING ENHANCED SWARM INTELLIGENCE FOR SIZING DESIGN OF STEEL FRAMES
Dynamic structural responses via time history analysis are highly dependent to characteristics of selected records as the seismic excitation. Ground motion scaling is a well-known solution to reduce such a dependency and increase reliability to the dynamic results. The present work, formulate a twofold problem for optimal spectral matching and performing consequent sizing optimization based on ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Robotica
دوره 27 شماره
صفحات -
تاریخ انتشار 2009