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This paper mainly provides and develops a new continuous-discrete PSO algorithm for handling with the optimal formation problem in the three dimensional space. For one class of formation problem with the particular constraints, it is shown that the center of the desired shape is determined and equal to the center of the initial shape by utilizing the Lagrangian method. From the perspective of efficiency,...
There are some key disadvantages associated with the parallel robots, which have impeded their wide application. To obtain a PR with good workspace properties, the design parameters of PR must be optimized. The optimal design of the general PRs' kinematic parameters are classified into two categories which have been illustrated in this paper. In fact, the second kind of the optimal design is a more...
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