Research on Input Scheme Selection of a Novel Parallel Mechanism

Algorithm 1

Pseudo-code of PSO.

	Compute initial velocity limits
	Initialize positions
	Initialize velocity
	Evaluate fitnesses to find pbest and gbest
	While termination criteria not met
	For each particle do
	Modify the velocity
	If velocity beyond bounds
	Assign that velocity limit as new velocity
	Change position
	If position beyond bounds
	Assign new position as that boundary
	Evaluate fitness and compute pbest`
	End for
	Update gbest
	End while