Path Planning for an HEXA Parallel Mechanism using a Modified PSO Algorithm

Abstract This paper presents a method for determining the optimal trajectory of the characteristic point based on the kinematic analysis of a HEXA parallel mechanism. The optimization was performed based on a modified PSO algorithm based on Hermite polynomials (MH-PSO). The change made to the initial algorithm consists in restricting the search space of the solutions by using the Hermite polynomial expressions of the geometric parameters as time functions for defining the movements of the end-effector. The MH-PSO algorithm, from its inception, ensures a faster convergence of solutions and ease of computational effort and is the main advantage of the method presented. During the optimization process, the function followed was the length of the trajectory described by the sequence of positions of the characteristic point, belonging to the end effector element, in compliance with additional conditions imposed. The use of the Hermite functions and PSO algorithm leads to minimal effort for analysis and mathematical formulation of the optimization problem.