Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel Mechanism
A simple and symmetrical parallel mechanism with three translations is designed according to the theory and method of topological design of parallel mechanism based on Position and Orientation Characteristic （POC） equation. The topological characteristics of mechanism，such as position and orientatio...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-12-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.12.014 |
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| author | Jianyuan Liu Jianlin He Zhixiong Jian Junguo Gao |
| author_facet | Jianyuan Liu Jianlin He Zhixiong Jian Junguo Gao |
| author_sort | Jianyuan Liu |
| collection | DOAJ |
| description | A simple and symmetrical parallel mechanism with three translations is designed according to the theory and method of topological design of parallel mechanism based on Position and Orientation Characteristic （POC） equation. The topological characteristics of mechanism，such as position and orientation characteristic set，degree of freedom and coupling degree，are calculated respectively by POC equation to verify the kinematics characteristics of the mechanism with three translations. The kinematics equation of the mechanism is established，and the analytical expression of positive and inverse kinematics solution of the mechanism are derived，the singularity，workspace and dexterity of the mechanism are studied. Finally，a multi-objective optimization design model is established，with elite retention strategy of rapid and dominate the multi-objective optimization algorithm （NSGA-Ⅱ），the scale synthesis of the structural parameters is carried out，a set of Pareto optimal solutions are obtained by optimization. The results show that the workspace volume and global dexterity can’t be maximized at the same time. Pareto optimal solution can be selected according to the actual needs to meet the needs of the two goals. |
| format | Article |
| id | doaj-art-400cff3c6ce34caca69909474303f627 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-400cff3c6ce34caca69909474303f6272025-01-10T14:54:52ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-12-014485915493143Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel MechanismJianyuan LiuJianlin HeZhixiong JianJunguo GaoA simple and symmetrical parallel mechanism with three translations is designed according to the theory and method of topological design of parallel mechanism based on Position and Orientation Characteristic （POC） equation. The topological characteristics of mechanism，such as position and orientation characteristic set，degree of freedom and coupling degree，are calculated respectively by POC equation to verify the kinematics characteristics of the mechanism with three translations. The kinematics equation of the mechanism is established，and the analytical expression of positive and inverse kinematics solution of the mechanism are derived，the singularity，workspace and dexterity of the mechanism are studied. Finally，a multi-objective optimization design model is established，with elite retention strategy of rapid and dominate the multi-objective optimization algorithm （NSGA-Ⅱ），the scale synthesis of the structural parameters is carried out，a set of Pareto optimal solutions are obtained by optimization. The results show that the workspace volume and global dexterity can’t be maximized at the same time. Pareto optimal solution can be selected according to the actual needs to meet the needs of the two goals.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.12.014Position and orientation characteristic setParallel mechanismWorkspaceDexterityMultiobjective optimization |
| spellingShingle | Jianyuan Liu Jianlin He Zhixiong Jian Junguo Gao Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel Mechanism Jixie chuandong Position and orientation characteristic set Parallel mechanism Workspace Dexterity Multiobjective optimization |
| title | Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel Mechanism |
| title_full | Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel Mechanism |
| title_fullStr | Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel Mechanism |
| title_full_unstemmed | Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel Mechanism |
| title_short | Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel Mechanism |
| title_sort | kinematics analysis and multi objective scale synthesis of a new three translation parallel mechanism |
| topic | Position and orientation characteristic set Parallel mechanism Workspace Dexterity Multiobjective optimization |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.12.014 |
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