Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators

Shenli Wu; Sun'An Wang; Xiaohu Li

doi:10.1109/ARSO.2014.7020986

Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators

Shenli Wu
, Sun'An Wang
, Xiaohu Li

School of Mechanical Engineering

Xi'an Jiaotong University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The design process of parallel manipulators is very difficult because it needs to solve problems such as more constraint variables, complex interference situations and long design periods and so on. This paper proposes a bacterial foraging optimization algorithm based on dynamic piecewise variable step size to optimize structural parameters. The workspace volume of the parallel manipulator is obtained by the method of polar boundary search based on the inverse kinematics and then influences of the structural parameters on the workspace are studied. Afterwards the optimization objective functions about the workspace are solved by the improved bacterial foraging optimization algorithm under the condition of the mechanism constraints. Compared with the initial designs, the results show that the structural parameters can increase the workspace after optimizing, which verifies the effectiveness of the improved algorithm proposed by this paper.

Original language	English
Title of host publication	ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts
Editors	Henny Admoni, Tamim Asfour, Cindy Bethel, David Bourne, Anca Dragan, David Feil-Seifer, Birgit Graf, Jeonghye Han, Nathan Kirchner, Masashi Konyo, Shinya Kotosaka, Sonya Kwak, Changchun Liu, Bruce MacDonald, Selma Sabanovic, Pericle Salvini, Sebastian Scherer, Masahiro Shiomi, Giancarlo Teti, Stephen Tully, Bram Vanderborght, Kazuyoshi Wada, Britta Wrede, Fumin Zhang
Publisher	IEEE Computer Society
Pages	88-93
Number of pages	6
Edition	January
ISBN (Electronic)	9781479969685
DOIs	https://doi.org/10.1109/ARSO.2014.7020986
State	Published - 23 Jan 2015
Event	9th IEEE International Workshop on Advance Robotics and its Social Impacts, ARSO 2014 - Evanston, United States Duration: 11 Sep 2014 → 13 Sep 2014

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Number	January
Volume	2015-January
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	9th IEEE International Workshop on Advance Robotics and its Social Impacts, ARSO 2014
Country/Territory	United States
City	Evanston
Period	11/09/14 → 13/09/14

Access to Document

10.1109/ARSO.2014.7020986

Cite this

Wu, S., Wang, SA., & Li, X. (2015). Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators. In H. Admoni, T. Asfour, C. Bethel, D. Bourne, A. Dragan, D. Feil-Seifer, B. Graf, J. Han, N. Kirchner, M. Konyo, S. Kotosaka, S. Kwak, C. Liu, B. MacDonald, S. Sabanovic, P. Salvini, S. Scherer, M. Shiomi, G. Teti, S. Tully, B. Vanderborght, K. Wada, B. Wrede, ... F. Zhang (Eds.), ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts (January ed., pp. 88-93). Article 7020986 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2015-January, No. January). IEEE Computer Society. https://doi.org/10.1109/ARSO.2014.7020986

Wu, Shenli ; Wang, Sun'An ; Li, Xiaohu. / Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators. ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts. editor / Henny Admoni ; Tamim Asfour ; Cindy Bethel ; David Bourne ; Anca Dragan ; David Feil-Seifer ; Birgit Graf ; Jeonghye Han ; Nathan Kirchner ; Masashi Konyo ; Shinya Kotosaka ; Sonya Kwak ; Changchun Liu ; Bruce MacDonald ; Selma Sabanovic ; Pericle Salvini ; Sebastian Scherer ; Masahiro Shiomi ; Giancarlo Teti ; Stephen Tully ; Bram Vanderborght ; Kazuyoshi Wada ; Britta Wrede ; Fumin Zhang. January. ed. IEEE Computer Society, 2015. pp. 88-93 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; January).

@inproceedings{fd3570bb5a4f4fa1b5687eaca5a0a935,

title = "Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators",

abstract = "The design process of parallel manipulators is very difficult because it needs to solve problems such as more constraint variables, complex interference situations and long design periods and so on. This paper proposes a bacterial foraging optimization algorithm based on dynamic piecewise variable step size to optimize structural parameters. The workspace volume of the parallel manipulator is obtained by the method of polar boundary search based on the inverse kinematics and then influences of the structural parameters on the workspace are studied. Afterwards the optimization objective functions about the workspace are solved by the improved bacterial foraging optimization algorithm under the condition of the mechanism constraints. Compared with the initial designs, the results show that the structural parameters can increase the workspace after optimizing, which verifies the effectiveness of the improved algorithm proposed by this paper.",

author = "Shenli Wu and Sun'An Wang and Xiaohu Li",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 9th IEEE International Workshop on Advance Robotics and its Social Impacts, ARSO 2014 ; Conference date: 11-09-2014 Through 13-09-2014",

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number = "January",

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editor = "Henny Admoni and Tamim Asfour and Cindy Bethel and David Bourne and Anca Dragan and David Feil-Seifer and Birgit Graf and Jeonghye Han and Nathan Kirchner and Masashi Konyo and Shinya Kotosaka and Sonya Kwak and Changchun Liu and Bruce MacDonald and Selma Sabanovic and Pericle Salvini and Sebastian Scherer and Masahiro Shiomi and Giancarlo Teti and Stephen Tully and Bram Vanderborght and Kazuyoshi Wada and Britta Wrede and Fumin Zhang",

booktitle = "ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts",

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Wu, S, Wang, SA & Li, X 2015, Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators. in H Admoni, T Asfour, C Bethel, D Bourne, A Dragan, D Feil-Seifer, B Graf, J Han, N Kirchner, M Konyo, S Kotosaka, S Kwak, C Liu, B MacDonald, S Sabanovic, P Salvini, S Scherer, M Shiomi, G Teti, S Tully, B Vanderborght, K Wada, B Wrede & F Zhang (eds), ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts. January edn, 7020986, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, no. January, vol. 2015-January, IEEE Computer Society, pp. 88-93, 9th IEEE International Workshop on Advance Robotics and its Social Impacts, ARSO 2014, Evanston, United States, 11/09/14. https://doi.org/10.1109/ARSO.2014.7020986

Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators. / Wu, Shenli; Wang, Sun'An; Li, Xiaohu.
ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts. ed. / Henny Admoni; Tamim Asfour; Cindy Bethel; David Bourne; Anca Dragan; David Feil-Seifer; Birgit Graf; Jeonghye Han; Nathan Kirchner; Masashi Konyo; Shinya Kotosaka; Sonya Kwak; Changchun Liu; Bruce MacDonald; Selma Sabanovic; Pericle Salvini; Sebastian Scherer; Masahiro Shiomi; Giancarlo Teti; Stephen Tully; Bram Vanderborght; Kazuyoshi Wada; Britta Wrede; Fumin Zhang. January. ed. IEEE Computer Society, 2015. p. 88-93 7020986 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2015-January, No. January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators

AU - Wu, Shenli

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AU - Li, Xiaohu

PY - 2015/1/23

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N2 - The design process of parallel manipulators is very difficult because it needs to solve problems such as more constraint variables, complex interference situations and long design periods and so on. This paper proposes a bacterial foraging optimization algorithm based on dynamic piecewise variable step size to optimize structural parameters. The workspace volume of the parallel manipulator is obtained by the method of polar boundary search based on the inverse kinematics and then influences of the structural parameters on the workspace are studied. Afterwards the optimization objective functions about the workspace are solved by the improved bacterial foraging optimization algorithm under the condition of the mechanism constraints. Compared with the initial designs, the results show that the structural parameters can increase the workspace after optimizing, which verifies the effectiveness of the improved algorithm proposed by this paper.

AB - The design process of parallel manipulators is very difficult because it needs to solve problems such as more constraint variables, complex interference situations and long design periods and so on. This paper proposes a bacterial foraging optimization algorithm based on dynamic piecewise variable step size to optimize structural parameters. The workspace volume of the parallel manipulator is obtained by the method of polar boundary search based on the inverse kinematics and then influences of the structural parameters on the workspace are studied. Afterwards the optimization objective functions about the workspace are solved by the improved bacterial foraging optimization algorithm under the condition of the mechanism constraints. Compared with the initial designs, the results show that the structural parameters can increase the workspace after optimizing, which verifies the effectiveness of the improved algorithm proposed by this paper.

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A2 - Asfour, Tamim

A2 - Bethel, Cindy

A2 - Bourne, David

A2 - Dragan, Anca

A2 - Feil-Seifer, David

A2 - Graf, Birgit

A2 - Han, Jeonghye

A2 - Kirchner, Nathan

A2 - Konyo, Masashi

A2 - Kotosaka, Shinya

A2 - Kwak, Sonya

A2 - Liu, Changchun

A2 - MacDonald, Bruce

A2 - Sabanovic, Selma

A2 - Salvini, Pericle

A2 - Scherer, Sebastian

A2 - Shiomi, Masahiro

A2 - Teti, Giancarlo

A2 - Tully, Stephen

A2 - Vanderborght, Bram

A2 - Wada, Kazuyoshi

A2 - Wrede, Britta

A2 - Zhang, Fumin

PB - IEEE Computer Society

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Wu S, Wang SA, Li X. Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators. In Admoni H, Asfour T, Bethel C, Bourne D, Dragan A, Feil-Seifer D, Graf B, Han J, Kirchner N, Konyo M, Kotosaka S, Kwak S, Liu C, MacDonald B, Sabanovic S, Salvini P, Scherer S, Shiomi M, Teti G, Tully S, Vanderborght B, Wada K, Wrede B, Zhang F, editors, ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts. January ed. IEEE Computer Society. 2015. p. 88-93. 7020986. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; January). doi: 10.1109/ARSO.2014.7020986

Dynamic bacterial foraging optimization algorithm to optimal design of parallel manipulators

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