Energy minimization for 3-RRR fully planar parallel manipulator using particle swarm optimization

被引：78

作者：

Kucuk, Serdar ^{[1
]}

机构：

[1] Kocaeli Univ, Dept Biomed Engn, TR-41380 Izmir, Turkey

来源：

MECHANISM AND MACHINE THEORY | 2013年 / 62卷

关键词：

Energy minimization; Particle swarm optimization; Discrete-time PID controller; Kinematics and dynamics of the planar parallel manipulators; STIFFNESS ANALYSIS; DESIGN;

D O I：

10.1016/j.mechmachtheory.2012.11.010

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents an optimization problem for the 3-degrees-of-freedom RRR fully planar parallel manipulator (3-RRR) based on the actuator power consumption. The optimization purposes to determine the optimal link and platform masses in order to minimize the electrical energy consumed by the actuators subject to the kinematic, geometric and dynamic constraints. The Particle Swarm Optimization (PSO), increasingly being used in various engineering applications, has been considered as the optimization tool. A discrete-time PID control scheme is designed for demonstrating the energy saving by means of the mass optimization. Finally the optimization results for the eight working modes of 3-RRR have been compared to each other and given in tables. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：129 / 149

页数：21

共 50 条

[21] Minimization of Torque Ripple for an IPMSM with a Notched Rotor Using the Particle Swarm Optimization Method
Shin, Pan Seok
Kim, Ho Youn
Kim, Yong Bae
JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY, 2014, 9 (05) : 1577 - 1581
[22] Multiobjective optimization using parallel vector evaluated particle swarm optimization
Parsopoulos, KE
Tasoulis, DK
Vrahatis, MN
PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE AND APPLICATIONS, VOLS 1AND 2, 2004, : 823 - 828
[23] Effect of Changing the Position of Tool Point on the Moving Platform on the Kinematics of a 3RRR Planar Parallel Manipulator
Abo-Shanab, Roshdy Foaad
ENGINEERING AND MANUFACTURING TECHNOLOGIES, 2014, 541-542 : 792 - 797
[24] Multi-objective Optimization of Parallel Manipulators using a Particle Swarm Algorithm
Lopes, Antonio M.
Freire, Helio
De Moura Oliveira, P. B.
Solteiro Pires, E. J.
Reis, Cecilia
NEW ASPECTS OF APPLIED INFORMATICS, BIOMEDICAL ELECTRONICS AND INFORMATICS AND COMMUNICATION, 2010, : 103 - +
[25] Kinematics Design of a Planar Parallel Controllable Mechanism Based on Particle Swarm Optimization Algorithm
Zhang, Ke
Wang, Shengze
JOURNAL OF COMPUTERS, 2011, 6 (06) : 1094 - 1101
[26] Power consumption minimization by distributive particle swarm optimization for luminance control and its parallel implementations
Liao, Chih-Lun
Lee, Shie-Jue
Chiou, Yu-Shu
Lee, Ching-Ran
Lee, Chie-Hong
EXPERT SYSTEMS WITH APPLICATIONS, 2018, 96 : 479 - 491
[27] Continuous Path Planning of Kinematically Redundant Manipulator using Particle Swarm Optimization
Machmudah, Affiani
Parman, Setyamartana
Baharom, M. B.
INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS, 2018, 9 (03) : 207 - 217
[28] Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization
Zhao, Suping
Chen, Chaobo
Li, Jichao
Gao, Song
Guo, Xinxin
APPLIED SCIENCES-BASEL, 2022, 12 (21):
[29] Global minimization of multi-funnel functions using particle swarm optimization
Maziar Salahi
Ali Jamalian
Akram Taati
Neural Computing and Applications, 2013, 23 : 2101 - 2106
[30] A DNR by Using Rank Evolutionary Particle Swarm Optimization for Power Loss Minimization
Sulaima, Mohamad Fani
Othman, Siti Noratika
Jamri, Mohd Saifuzam
Omar, Rosli
Sulaiman, Marizan
PROCEEDINGS FIFTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS, MODELLING AND SIMULATION, 2014, : 417 - 422

← 1 2 3 4 5 →