Parameter Optimization for Spherical Parallel Mechanism Bionic Eye Based on Differential Evolution

Abstract:

The target working space of bionic eye was firstly determined. The worst dexterity for bionic eye with the maximum condition number of Jacobian matrix was defined. Then, a differential evolution (DE) algorithm was used to optimize the maximum of the worst dexterity index. Dynamic scaling factor was determined according to the overcome premature evolution and enhance the probability of finding global optimum. Reasonable structural parameters were chosen in the case of satisfying the special requirements of bionic eye structure and making arbitrary posture dexterity of target working space better. Finally, the experimental results show that bionic eye with the optimized parameters are good coinciding with the design requirements.