Performance Index Analysis and Structural Parameter Optimization of PRP<sub>A</sub>S/2-PUPR Parallel Mechanical Leg
In order to study the relationship between the performance index and structural parameters of parallel mechanical legs，the PRP<sub>A</sub>S/2-PUPR parallel mechanism is studied. According to the working task of the walking robot，the degree of freedom of the mechanical leg is determined....
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.014 |
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| Summary: | In order to study the relationship between the performance index and structural parameters of parallel mechanical legs，the PRP<sub>A</sub>S/2-PUPR parallel mechanism is studied. According to the working task of the walking robot，the degree of freedom of the mechanical leg is determined. The positive and negative solutions of the position are used to prove that the mechanical leg has partial decoupling performance; the working space of the mechanical leg is searched by Monte Carlo method. Based on the first-order influence coefficient matrix and the second-order influence coefficient matrix，the speed global performance index and the acceleration global performance index of the mechanical leg are obtained，and the structural parameters are numerically determined to obtain a better range of structural parameters. Finally，the optimized mechanical leg structure parameters are obtained through the refined performance parameters of the structural parameters. The results show that the performance index can accurately optimize the structural parameters of the mechanical leg. |
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| ISSN: | 1004-2539 |