A Hybrid Optimization Method of Dimensions for the Tricept Parallel Robot

摘要

Since the drilling tool head of arbitrary axis is required in manufacture, a drilling parallel manipulator is designed based on a Tricept parallel robot. Considering the effects of joint limitations, operating performances and driving constraints, a hybrid optimization method is presented for finding optimal values of five dimension parameters. The optimization method predominantly combines the advantages of atlas method and Particle Swarm Optimization technique. Different from the previous atlas method, the new atlas method can determine four parameters by introducing correction constants. Moreover, using the fitness function of Particle Swarm Optimization can promote some focused performances, and the optimal solution can be obtained more efficiently through the search of particles compared with the optional point. Finally, after discussing the possible scenarios of this method, the optimization parameters are determined and an optimized drilling parallel manipulator is presented. According to the verification, it turns out that the hybrid optimization method can be used to dimension design of parallel manipulators with different requirements excellently.