Size Optimization Design of 3T1R Parallel Mechanism based on Workspace
An iterative rapid search algorithm of spherical coordinate variable step size is used to analyze the reachable workspace of a 3 T1 R parallel mechanism. The size of the mechanism is optimized by using the beetle antennae search algorithm. Firstly,the position of the mechanism is analyzed and its ki...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.015 |
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| _version_ | 1841547466983342080 |
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| author | Liu Zhenkun Luo Yufeng Shi Zhixin Xia Yongqiang Xie Dongfu |
| author_facet | Liu Zhenkun Luo Yufeng Shi Zhixin Xia Yongqiang Xie Dongfu |
| author_sort | Liu Zhenkun |
| collection | DOAJ |
| description | An iterative rapid search algorithm of spherical coordinate variable step size is used to analyze the reachable workspace of a 3 T1 R parallel mechanism. The size of the mechanism is optimized by using the beetle antennae search algorithm. Firstly,the position of the mechanism is analyzed and its kinematic inverse solution is obtained. Then,an iterative rapid search algorithm with spherical coordinate variable step size is used to solve the reachable workspace of the 3 T1 R parallel mechanism. The workspace is measured by the size of workspace index,the influence of the structural parameters of the parallel mechanism on the working space volume is quantitatively analyzed. Finally,taking the maximum working space volume as the target,the structural parameters of the parallel mechanism are optimized by using the beetle antennae search algorithm,and the optimal value is obtained. The algorithm has fewer calculation steps and fast solution speed,which provides a theoretical basis for the practical application of such parallel mechanism. |
| format | Article |
| id | doaj-art-190eff4c08114b82ba8ac27c3b044193 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-190eff4c08114b82ba8ac27c3b0441932025-01-10T14:40:37ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142778229938956Size Optimization Design of 3T1R Parallel Mechanism based on WorkspaceLiu ZhenkunLuo YufengShi ZhixinXia YongqiangXie DongfuAn iterative rapid search algorithm of spherical coordinate variable step size is used to analyze the reachable workspace of a 3 T1 R parallel mechanism. The size of the mechanism is optimized by using the beetle antennae search algorithm. Firstly,the position of the mechanism is analyzed and its kinematic inverse solution is obtained. Then,an iterative rapid search algorithm with spherical coordinate variable step size is used to solve the reachable workspace of the 3 T1 R parallel mechanism. The workspace is measured by the size of workspace index,the influence of the structural parameters of the parallel mechanism on the working space volume is quantitatively analyzed. Finally,taking the maximum working space volume as the target,the structural parameters of the parallel mechanism are optimized by using the beetle antennae search algorithm,and the optimal value is obtained. The algorithm has fewer calculation steps and fast solution speed,which provides a theoretical basis for the practical application of such parallel mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.015Parallel mechanismWorkspaceSpherical coordinateBeetle antennae search algorithmParameter optimum |
| spellingShingle | Liu Zhenkun Luo Yufeng Shi Zhixin Xia Yongqiang Xie Dongfu Size Optimization Design of 3T1R Parallel Mechanism based on Workspace Jixie chuandong Parallel mechanism Workspace Spherical coordinate Beetle antennae search algorithm Parameter optimum |
| title | Size Optimization Design of 3T1R Parallel Mechanism based on Workspace |
| title_full | Size Optimization Design of 3T1R Parallel Mechanism based on Workspace |
| title_fullStr | Size Optimization Design of 3T1R Parallel Mechanism based on Workspace |
| title_full_unstemmed | Size Optimization Design of 3T1R Parallel Mechanism based on Workspace |
| title_short | Size Optimization Design of 3T1R Parallel Mechanism based on Workspace |
| title_sort | size optimization design of 3t1r parallel mechanism based on workspace |
| topic | Parallel mechanism Workspace Spherical coordinate Beetle antennae search algorithm Parameter optimum |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.015 |
| work_keys_str_mv | AT liuzhenkun sizeoptimizationdesignof3t1rparallelmechanismbasedonworkspace AT luoyufeng sizeoptimizationdesignof3t1rparallelmechanismbasedonworkspace AT shizhixin sizeoptimizationdesignof3t1rparallelmechanismbasedonworkspace AT xiayongqiang sizeoptimizationdesignof3t1rparallelmechanismbasedonworkspace AT xiedongfu sizeoptimizationdesignof3t1rparallelmechanismbasedonworkspace |