Energy Consumption Minimizing for Electro-HydraulicServo Driving Planar Parallel Mechanism by Optimizing the Structure Based on Genetic Algorithm

Electro-hydraulic servo driving planar parallel mechanism (EHPM) is widely used in simulating large-scale vibration environments. However, the energy consumption of EHPM is large. There is little research on the energy consumption of EHPM. Therefore, this paper presents a structural optimization method, which can effectively reduce the energy consumption of EHPM by changing the arrangement of the planar redundant actuator. First, the mathematical model of the total power of EHPM is established. In order to distinguish the variables that affect energy consumption, the effect of a single structural variable on energy consumption is discussed, respectively, based on the mathematical model of the total power. And then the genetic algorithm is used to optimize the total power objective function with multiple structural variables. The influence of the initial value of the structure variable on the convergence range of total power is also discussed. The simulation results show the effectiveness of changing the actuator arrangement, which can significantly reduce energy consumption. Moreover, the component selecting of the hydraulic cylinder and servo valve can be smaller and the cost of which can be reduced.