Kinematic Synthesis of A Spatial 3-RPS Parallel Manipulator Using Particle Swarm Optimization

Mohan Rao N.*
Associate Professor, Department of Mechanical Engineering, University College of Engineering Kakinada, JNTU Kakinada, India ABSTRACT
Periodicity:May - July'2010
DOI : https://doi.org/10.26634/jfet.5.4.1269

Abstract

The paper presents dimensional synthesis of a spatial 3-RPS parallel manipulator in order that a point on the moving platform occupies a set prescribed positions in space in response to the corresponding sets of joint actuations. The procedure for synthesis involves determination of the dimensions of the fixed and moving platforms along with the directions of revolute joints. A non-traditional optimization method, Particle Swarm Optimization (PSO) is used to determine the architectural parameters by solving the design equations as an optimization problem. The effectiveness of PSO in solving such problems is demonstrated through a numerical example.

Keywords

Synthesis,3-RPS parallel manipulator,Optimization,Particle swarm optimization.

How to Cite this Article?

Rao, N. M.(2010). Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator using Particle Swarm Optimization. i-manager’s Journal on Future Engineering and Technology, 5(4), 35-40. https://doi.org/10.26634/jfet.5.4.1269

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