Parameter Optimization of a Stability-Training Platform’s 4-PSS/PS Parallel Mechanism Based on Training Ability Evaluation Index and PSO Algorithm

Abstract

The existing mechanism parameter optimization (MPO) method of parallel mechanisms only considers the workspace size and ignores contribution of each configuration's performance. So a novel MPO method is proposed for our serialparallel mechanism platform, which is used in stability training of legged robots. Regarding the platform's parallel mechanism part, a 4-PSS/PS parallel mechanism, two object functions and three constraint conditions are defined to establish the MPO model. The first object function uses critical motion indexes of the moving platform. The second one uses derivative function of the defined disturbance Lagrange function. After analyzing stability-training requirements of five existing legged robots, requirements of the platform's motion capability are given out. Regarding each proposed object function separately, the MPO model is solved by the particle swarm optimization (PSO) algorithm. Valid workspace boundaries corresponding to the optimization results are solved by a numerical method. The overall optimal solution is determined based on volume of the valid workspace. It is revealed that the two object functions result in similar optimization solutions, which shows that the proposed object functions can reflect the stabilitytraining ability consistently. This paper proposes and verifies the established MPO model, which considers both the workspace size and configurations' performance evaluation.

Construction of Big Data Technology Training Environment for Vocational Education Based on Edge Computing Technology

“…Allround development talents are innovative talents [1]. It is necessary to cultivate, train, and enhance their innovative ability and awareness in a targeted manner, as well as to improve their overall innovative quality [2,3]. With the rapid growth of the BD (big data) industry, many universities have turned their attention to cultivating talent in related industries as well as building and developing BD disciplines [4].…”

“…(1) Use edge computing technology to provide solutions for the development of industry-education integration informatization (2) Analyze the access sequence between some knowledge points to find out students' study habits for personalized service.…”

Integrated Optimization of Structure and Control Parameters for the Height Control System of a Vertical Spindle Cotton Picker

“…For the discrete structure parameters, i.e., inner diameter of hydraulic cylinder D, length of hydraulic cylinder barrel L 0 and length of rod AC L 2 , they are firstly searched using SA and the optimal control parameters K P , K I and K D for each set of structure parameters are then obtained through PSO algorithm. The reason for choosing SA and PSO is that the SA is capable of high searching efficiency and fast convergence speed for solving discrete optimization problem [33] and so does the PSO for continuous optimization problems [34,35]. The flowchart of the algorithm is shown in Figure 7 and the detailed procedure is described as follows.…”

Integrated optimization of structure and control parameters for the height control system of a vertical spindle cotton picker

“…For the discrete structure parameters, i.e., inner diameter of hydraulic cylinder D, length of hydraulic cylinder barrel L0 and length of rod AC L2, they are firstly searched using SA and the optimal control parameters KP ,KI and KD for each set of structure parameters are then obtained through PSO algorithm. The reason for choosing SA and PSO is that the SA is capable of high searching efficiency and fast convergence speed for solving discrete optimization problem [33] and so does the PSO for continuous optimization problems [34,35]. The flowchart of the algorithm is shown in Figure 7 and the detailed procedure is described as follows.…”