Analysis and Parameter Optimum of a New 4-DOF 4PPaRR Parallel Mechanism
The parallel mechanism of four-degree-of-freedom (4-DOF) 4PPaRR is proposed. Then its topological characteristic of analysis 4PPaRR parallel mechanism is performed based on the theory of position and orientation characteristic (POC), and the degree of freedom and motion property are validated by it....
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-07-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.017 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841548831395676160 |
|---|---|
| author | Huiping Li Feng Ou |
| author_facet | Huiping Li Feng Ou |
| author_sort | Huiping Li |
| collection | DOAJ |
| description | The parallel mechanism of four-degree-of-freedom (4-DOF) 4PPaRR is proposed. Then its topological characteristic of analysis 4PPaRR parallel mechanism is performed based on the theory of position and orientation characteristic (POC), and the degree of freedom and motion property are validated by it. The inverse kinematics of the mechanism is analyzed, and the workspace of the 4PPaRR parallel mechanism is solved by numerical method. Then a performance index is defined in order to analyze the rotational capacity of 4PPaRR parallel mechanism, The scale optimization of parallel mechanism size is carried out based on Grasshopper Optimization Algorithm（GOA）in the end. The research results show that the 4PPaRR parallel mechanism has larger workspace and rotation capability. The optimization results can provide a theoretical basis for later prototype development and trajectory planning. |
| format | Article |
| id | doaj-art-688781f7e92d4fe69cc77c1c3fa0e5ba |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-688781f7e92d4fe69cc77c1c3fa0e5ba2025-01-10T13:58:42ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-07-0143919730649169Analysis and Parameter Optimum of a New 4-DOF 4PPaRR Parallel MechanismHuiping LiFeng OuThe parallel mechanism of four-degree-of-freedom (4-DOF) 4PPaRR is proposed. Then its topological characteristic of analysis 4PPaRR parallel mechanism is performed based on the theory of position and orientation characteristic (POC), and the degree of freedom and motion property are validated by it. The inverse kinematics of the mechanism is analyzed, and the workspace of the 4PPaRR parallel mechanism is solved by numerical method. Then a performance index is defined in order to analyze the rotational capacity of 4PPaRR parallel mechanism, The scale optimization of parallel mechanism size is carried out based on Grasshopper Optimization Algorithm（GOA）in the end. The research results show that the 4PPaRR parallel mechanism has larger workspace and rotation capability. The optimization results can provide a theoretical basis for later prototype development and trajectory planning.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.017Parallel mechanismPosition and orientation characteristicWorkspaceParameter optimum |
| spellingShingle | Huiping Li Feng Ou Analysis and Parameter Optimum of a New 4-DOF 4PPaRR Parallel Mechanism Jixie chuandong Parallel mechanism Position and orientation characteristic Workspace Parameter optimum |
| title | Analysis and Parameter Optimum of a New 4-DOF 4PPaRR Parallel Mechanism |
| title_full | Analysis and Parameter Optimum of a New 4-DOF 4PPaRR Parallel Mechanism |
| title_fullStr | Analysis and Parameter Optimum of a New 4-DOF 4PPaRR Parallel Mechanism |
| title_full_unstemmed | Analysis and Parameter Optimum of a New 4-DOF 4PPaRR Parallel Mechanism |
| title_short | Analysis and Parameter Optimum of a New 4-DOF 4PPaRR Parallel Mechanism |
| title_sort | analysis and parameter optimum of a new 4 dof 4pparr parallel mechanism |
| topic | Parallel mechanism Position and orientation characteristic Workspace Parameter optimum |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.017 |
| work_keys_str_mv | AT huipingli analysisandparameteroptimumofanew4dof4pparrparallelmechanism AT fengou analysisandparameteroptimumofanew4dof4pparrparallelmechanism |