Optimal Design of an Orthogonal Generalized Parallel Manipulator Based on Swarm Particle Optimization Algorithm

摘要

Study of methods to design optimal Gough-Stewart parallel manipulator geometries meeting orthogonality is of high interest. The paper will design the Orthogonal Generalized Gough-Stewart Parallel Manipulator (OGGSPM) based on the composite hyperboloids. Moreover, Particle Swarm Optimization (PSO) algorithm is introduced to perform the structure optimization as the Jacobian matrix condition number is used as the evaluation index. As an example, two different optimization cases are presented.