Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical Legs
Aiming at the problem of small workspace in the majority of parallel robotic legs, a novel R&(2-RPR)+UPS parallel mechanical leg with an amplification mechanism is proposed, and its main structural parameters are optimized. Firstly, the three-dimensional models of the parallel mechanical leg...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.07.011 |
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| author | Li Zhen Wang Xiaolei Li Xiaodan |
| author_facet | Li Zhen Wang Xiaolei Li Xiaodan |
| author_sort | Li Zhen |
| collection | DOAJ |
| description | Aiming at the problem of small workspace in the majority of parallel robotic legs, a novel R&(2-RPR)+UPS parallel mechanical leg with an amplification mechanism is proposed, and its main structural parameters are optimized. Firstly, the three-dimensional models of the parallel mechanical leg and the whole quadruped robot are established by SolidWorks software. The position inverse solution of the single leg mechanism is derived, and its correctness is verified through simulations using Adams and Matlab software. Secondly, the workspace volume of the single leg is computed by Monte Carlo method and used as the optimization index. The rules between the optimization index and various structural parameters are studied separately, and the optimization variables are determined. Finally, the main structural parameters of the robotic leg are optimized by the particle swarm optimization algorithm. The results show that the optimized robotic leg's workspace volume is increased by 69.83%, and the workspace ranging in <italic>X</italic> and <italic>Y</italic> directions are increased respectively by 35.26% and 19.51%, which has improved the quadruped robot's ability of fast walking and obstacle overcoming. |
| format | Article |
| id | doaj-art-08f62cc21b3d4aadb8fb07d897b5bc70 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-08f62cc21b3d4aadb8fb07d897b5bc702025-01-10T15:00:57ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-07-0148859066779568Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical LegsLi ZhenWang XiaoleiLi XiaodanAiming at the problem of small workspace in the majority of parallel robotic legs, a novel R&(2-RPR)+UPS parallel mechanical leg with an amplification mechanism is proposed, and its main structural parameters are optimized. Firstly, the three-dimensional models of the parallel mechanical leg and the whole quadruped robot are established by SolidWorks software. The position inverse solution of the single leg mechanism is derived, and its correctness is verified through simulations using Adams and Matlab software. Secondly, the workspace volume of the single leg is computed by Monte Carlo method and used as the optimization index. The rules between the optimization index and various structural parameters are studied separately, and the optimization variables are determined. Finally, the main structural parameters of the robotic leg are optimized by the particle swarm optimization algorithm. The results show that the optimized robotic leg's workspace volume is increased by 69.83%, and the workspace ranging in <italic>X</italic> and <italic>Y</italic> directions are increased respectively by 35.26% and 19.51%, which has improved the quadruped robot's ability of fast walking and obstacle overcoming.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.07.011Parallel mechanical legStructural parameter optimizationParticle swarm optimization algorithmWorkspace |
| spellingShingle | Li Zhen Wang Xiaolei Li Xiaodan Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical Legs Jixie chuandong Parallel mechanical leg Structural parameter optimization Particle swarm optimization algorithm Workspace |
| title | Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical Legs |
| title_full | Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical Legs |
| title_fullStr | Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical Legs |
| title_full_unstemmed | Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical Legs |
| title_short | Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical Legs |
| title_sort | structural parameters optimization of r amp 2 rpr ups parallel mechanical legs |
| topic | Parallel mechanical leg Structural parameter optimization Particle swarm optimization algorithm Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.07.011 |
| work_keys_str_mv | AT lizhen structuralparametersoptimizationoframp2rprupsparallelmechanicallegs AT wangxiaolei structuralparametersoptimizationoframp2rprupsparallelmechanicallegs AT lixiaodan structuralparametersoptimizationoframp2rprupsparallelmechanicallegs |