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

Vol. 5 No. 4

Year : 2010

Issue : May-Jul

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

Author Name  : Nalluri Mohan Rao 

Synopsis  : 

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.