Design Optimization of Stewart-Gough Platform based on Differential Evolution Algorithm
The Stewart-Gough platform is optimized by using the differential evolution algorithm. Firstly,the symmetric structure and unsymmetric structure of Stewart-Gough platform are introduced. Secondly,the objective function is defined by considering the effects of the limited of workspace,the singularity...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.015 |
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| _version_ | 1841547409605263360 |
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| author | Wang Ting Miao Hongbin Wu Quanjun Jin Weihe |
| author_facet | Wang Ting Miao Hongbin Wu Quanjun Jin Weihe |
| author_sort | Wang Ting |
| collection | DOAJ |
| description | The Stewart-Gough platform is optimized by using the differential evolution algorithm. Firstly,the symmetric structure and unsymmetric structure of Stewart-Gough platform are introduced. Secondly,the objective function is defined by considering the effects of the limited of workspace,the singularity con? gurations existing inside the workspace and the high cost. Finally,the tool selected for optimization is the differential evolution algorithm,and it is used to optimize the structure of Stewart-Gough platform. The results of optimization suggests that the aim of maximize the payload and minimize the forces at each leg needed to counteract external forces applied to the mobile platform can achieved by appropriate select the Stewart-Gough platform structure and parameters. Compared with other algorithms,the differential evolution algorithm has better global search ability,thus select the differential evolution algorithm as optimization tools. The optimization and simulation process are achieved by using MATLAB. |
| format | Article |
| id | doaj-art-4ea0f39c58024e41a3779fd4d7c2c5c3 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-4ea0f39c58024e41a3779fd4d7c2c5c32025-01-10T14:43:15ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142667129935842Design Optimization of Stewart-Gough Platform based on Differential Evolution AlgorithmWang TingMiao HongbinWu QuanjunJin WeiheThe Stewart-Gough platform is optimized by using the differential evolution algorithm. Firstly,the symmetric structure and unsymmetric structure of Stewart-Gough platform are introduced. Secondly,the objective function is defined by considering the effects of the limited of workspace,the singularity con? gurations existing inside the workspace and the high cost. Finally,the tool selected for optimization is the differential evolution algorithm,and it is used to optimize the structure of Stewart-Gough platform. The results of optimization suggests that the aim of maximize the payload and minimize the forces at each leg needed to counteract external forces applied to the mobile platform can achieved by appropriate select the Stewart-Gough platform structure and parameters. Compared with other algorithms,the differential evolution algorithm has better global search ability,thus select the differential evolution algorithm as optimization tools. The optimization and simulation process are achieved by using MATLAB.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.015Differential evolution algorithmStewart-Gough platformOptimization |
| spellingShingle | Wang Ting Miao Hongbin Wu Quanjun Jin Weihe Design Optimization of Stewart-Gough Platform based on Differential Evolution Algorithm Jixie chuandong Differential evolution algorithm Stewart-Gough platform Optimization |
| title | Design Optimization of Stewart-Gough Platform based on Differential Evolution Algorithm |
| title_full | Design Optimization of Stewart-Gough Platform based on Differential Evolution Algorithm |
| title_fullStr | Design Optimization of Stewart-Gough Platform based on Differential Evolution Algorithm |
| title_full_unstemmed | Design Optimization of Stewart-Gough Platform based on Differential Evolution Algorithm |
| title_short | Design Optimization of Stewart-Gough Platform based on Differential Evolution Algorithm |
| title_sort | design optimization of stewart gough platform based on differential evolution algorithm |
| topic | Differential evolution algorithm Stewart-Gough platform Optimization |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.015 |
| work_keys_str_mv | AT wangting designoptimizationofstewartgoughplatformbasedondifferentialevolutionalgorithm AT miaohongbin designoptimizationofstewartgoughplatformbasedondifferentialevolutionalgorithm AT wuquanjun designoptimizationofstewartgoughplatformbasedondifferentialevolutionalgorithm AT jinweihe designoptimizationofstewartgoughplatformbasedondifferentialevolutionalgorithm |