Path Synthesis Optimal Design of Pick-Up Manipulator Based on Modified Particle Swarm Optimization

doi:10.12068/j.issn.1005-3026.2018.11.023

Journal of Northeastern University Natural Science ›› 2018, Vol. 39 ›› Issue (11): 1636-1641.DOI: 10.12068/j.issn.1005-3026.2018.11.023

• Mechanical Engineering • Previous Articles Next Articles

Path Synthesis Optimal Design of Pick-Up Manipulator Based on Modified Particle Swarm Optimization

HUANG Qiu-jun¹， ZHANG Kai²， SONG Jin-chun¹， YU Zhong-liang¹

1. School of Mechanical Engineer & Automation， Northeastern University， Shenyang 110819， China; 2. Institute of Equipment Reliability， Shenyang University of Chemical Technology， Shenyang 110142， China.

Received:2017-08-16 Revised:2017-08-16 Online:2018-11-15 Published:2018-11-09
Contact: ZHANG Kai
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Abstract

Abstract: To optimize the motion curve for the pick-up manipulator when going into the mold， an novel method called quadratic Lagrange interpolation particle swarm optimization(QLIPSO)algorithm which can expand the search space， prevent premature convergence， and improve the convergence accuracy effectively is proposed. To verify the effectiveness of QLIPSO， four modified PSO algorithms are compared to synthesize the four-bar linkage of the manipulator. The numerical simulation results show that a better fitness value can be obtained with the QLIPSO algorithm. The linearity error of the curve of the manipulator， optimized by the proposed method， is decreased by 98.06% comparing with that non-optimized. It indicates that the proposed method can effectively improve the motion performance of the manipulator.

Key words: pick-up manipulator, planar four-bar linkage, structural optimization, path synthesis, particle swarm optimization(PSO)

CLC Number:

TP241

HUANG Qiu-jun， ZHANG Kai， SONG Jin-chun， YU Zhong-liang. Path Synthesis Optimal Design of Pick-Up Manipulator Based on Modified Particle Swarm Optimization[J]. Journal of Northeastern University Natural Science, 2018, 39(11): 1636-1641.

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Path Synthesis Optimal Design of Pick-Up Manipulator Based on Modified Particle Swarm Optimization

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