Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot Mechanism
Based on the design theory of position and orientation characteristic set， a kind of parallel robot mechanism is proposed， whose moving platform can realize three translations and one rotation. According to the orientation characteristic equation， the topological structure of the mechanism is analyz...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.009 |
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| author | Huajuan Xu Hongwei Li Chunyan Zhang |
| author_facet | Huajuan Xu Hongwei Li Chunyan Zhang |
| author_sort | Huajuan Xu |
| collection | DOAJ |
| description | Based on the design theory of position and orientation characteristic set， a kind of parallel robot mechanism is proposed， whose moving platform can realize three translations and one rotation. According to the orientation characteristic equation， the topological structure of the mechanism is analyzed， and the kinematics equation model is established by the constraint condition of the length of the rod， and the forward and inverse solution analysis is completed. The motion conditions of singular configuration are determined according to the Jacobian matrix. The operation space shape and rotation flexibility of the moving platform of the mechanism are further studied. At the same time， according to the single variable method， the influence of structural parameters on the operation space is analyzed. The optimization model of operation space maximization is established， the scale optimization is carried out by using beetle antennae search algorithm with fast search speed and strong global search ability. The results show that the mechanism has large， regular shape workspace and strong rotation ability， and the optimized size parameters provides a theoretical basis for the application design of the manipulator. |
| format | Article |
| id | doaj-art-66c8bee2f8ed42d0ba091c542d2ddb18 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-66c8bee2f8ed42d0ba091c542d2ddb182025-01-10T14:49:19ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-05-0145576510228428Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot MechanismHuajuan XuHongwei LiChunyan ZhangBased on the design theory of position and orientation characteristic set， a kind of parallel robot mechanism is proposed， whose moving platform can realize three translations and one rotation. According to the orientation characteristic equation， the topological structure of the mechanism is analyzed， and the kinematics equation model is established by the constraint condition of the length of the rod， and the forward and inverse solution analysis is completed. The motion conditions of singular configuration are determined according to the Jacobian matrix. The operation space shape and rotation flexibility of the moving platform of the mechanism are further studied. At the same time， according to the single variable method， the influence of structural parameters on the operation space is analyzed. The optimization model of operation space maximization is established， the scale optimization is carried out by using beetle antennae search algorithm with fast search speed and strong global search ability. The results show that the mechanism has large， regular shape workspace and strong rotation ability， and the optimized size parameters provides a theoretical basis for the application design of the manipulator.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.009Position and orientation characteristic setParallel mechanismWorkspaceParameter optimumBeetle antennae search algorithm |
| spellingShingle | Huajuan Xu Hongwei Li Chunyan Zhang Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot Mechanism Jixie chuandong Position and orientation characteristic set Parallel mechanism Workspace Parameter optimum Beetle antennae search algorithm |
| title | Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot Mechanism |
| title_full | Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot Mechanism |
| title_fullStr | Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot Mechanism |
| title_full_unstemmed | Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot Mechanism |
| title_short | Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot Mechanism |
| title_sort | kinematics analysis and parameter optimization of a novel 3t1r parallel robot mechanism |
| topic | Position and orientation characteristic set Parallel mechanism Workspace Parameter optimum Beetle antennae search algorithm |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.009 |
| work_keys_str_mv | AT huajuanxu kinematicsanalysisandparameteroptimizationofanovel3t1rparallelrobotmechanism AT hongweili kinematicsanalysisandparameteroptimizationofanovel3t1rparallelrobotmechanism AT chunyanzhang kinematicsanalysisandparameteroptimizationofanovel3t1rparallelrobotmechanism |