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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Main Authors: Li Zhen, Wang Xiaolei, Li Xiaodan
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2024-07-01
Series:Jixie chuandong
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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&amp;(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&amp;(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&amp;(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&amp;(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&amp;(2-RPR)+UPS Parallel Mechanical Legs
title_full Structural Parameters Optimization of R&amp;(2-RPR)+UPS Parallel Mechanical Legs
title_fullStr Structural Parameters Optimization of R&amp;(2-RPR)+UPS Parallel Mechanical Legs
title_full_unstemmed Structural Parameters Optimization of R&amp;(2-RPR)+UPS Parallel Mechanical Legs
title_short Structural Parameters Optimization of R&amp;(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