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Architecture optimization of 4PUS+1PS parallel manipulator
| Content Provider | Scilit |
|---|---|
| Author | Abbasnejad, G. Daniali, H. M. Fathi, A. |
| Copyright Year | 2010 |
| Description | SUMMARY The main goal of this paper is the design of 4PUS+1PS parallel manipulator, using an optimization problem that takes into accounts the characteristics of the workspace and dexterity. The optimization problem is formulated considering constraints on actuated and passive joint limits. A comparison between quantum particle swarm Optimization (QPSO) and PSO is developed. Two numerical examples are presented, which reveal the advantages of QPSO to PSO. Moreover, it is shown that by introducing the dexterity index as a quality measure throughout the workspace, the parallel manipulator is improved at the cost of a minor reduction in its workspace. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/247B74C68D046EC869FD444093BE4C41/S0263574710000500a.pdf/div-class-title-architecture-optimization-of-4pus-1ps-parallel-manipulator-div.pdf |
| Ending Page | 690 |
| Page Count | 8 |
| Starting Page | 683 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574710000500 |
| Journal | Robotica |
| Issue Number | 5 |
| Volume Number | 29 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2011-09-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Parallel Manipulator |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
