Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism
A kind of 2RRPaR+PPaP three translational space parallel mechanism is designed, and the forward and inverse position solutions equation and Jacobi matrix of the mechanism are derived. The optimization mathematical model is set up with the optimization goal of workspace and global dexterity. Based on...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-02-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.009 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841548791590682624 |
|---|---|
| author | Zhiyuan Ma Wei Zhu Hanbing Li Kanrong Gu Chuanwei Wang Jiuwei Shi |
| author_facet | Zhiyuan Ma Wei Zhu Hanbing Li Kanrong Gu Chuanwei Wang Jiuwei Shi |
| author_sort | Zhiyuan Ma |
| collection | DOAJ |
| description | A kind of 2RRPaR+PPaP three translational space parallel mechanism is designed, and the forward and inverse position solutions equation and Jacobi matrix of the mechanism are derived. The optimization mathematical model is set up with the optimization goal of workspace and global dexterity. Based on the maximum number of scatter points in the workspace and the maximum dexterity, the differential evolution algorithm is used to optimize the design and get the optimal parameters of the mechanism. By comparing the workspace and dexterity of the mechanism before and after optimization, the results show that the motion performance of the optimized mechanism has been greatly improved, which laid the foundation for the design and application of the mechanism. |
| format | Article |
| id | doaj-art-bcefe6b36a9f40b282a91da99d485dcf |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-bcefe6b36a9f40b282a91da99d485dcf2025-01-10T14:02:05ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-02-0143505430638604Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot MechanismZhiyuan MaWei ZhuHanbing LiKanrong GuChuanwei WangJiuwei ShiA kind of 2RRPaR+PPaP three translational space parallel mechanism is designed, and the forward and inverse position solutions equation and Jacobi matrix of the mechanism are derived. The optimization mathematical model is set up with the optimization goal of workspace and global dexterity. Based on the maximum number of scatter points in the workspace and the maximum dexterity, the differential evolution algorithm is used to optimize the design and get the optimal parameters of the mechanism. By comparing the workspace and dexterity of the mechanism before and after optimization, the results show that the motion performance of the optimized mechanism has been greatly improved, which laid the foundation for the design and application of the mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.009Parallel mechanismWorkspaceDexterityDifferential evolution algorithmOptimization design |
| spellingShingle | Zhiyuan Ma Wei Zhu Hanbing Li Kanrong Gu Chuanwei Wang Jiuwei Shi Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism Jixie chuandong Parallel mechanism Workspace Dexterity Differential evolution algorithm Optimization design |
| title | Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism |
| title_full | Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism |
| title_fullStr | Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism |
| title_full_unstemmed | Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism |
| title_short | Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism |
| title_sort | multi objective optimization design for a kind of three translation parallel robot mechanism |
| topic | Parallel mechanism Workspace Dexterity Differential evolution algorithm Optimization design |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.009 |
| work_keys_str_mv | AT zhiyuanma multiobjectiveoptimizationdesignforakindofthreetranslationparallelrobotmechanism AT weizhu multiobjectiveoptimizationdesignforakindofthreetranslationparallelrobotmechanism AT hanbingli multiobjectiveoptimizationdesignforakindofthreetranslationparallelrobotmechanism AT kanronggu multiobjectiveoptimizationdesignforakindofthreetranslationparallelrobotmechanism AT chuanweiwang multiobjectiveoptimizationdesignforakindofthreetranslationparallelrobotmechanism AT jiuweishi multiobjectiveoptimizationdesignforakindofthreetranslationparallelrobotmechanism |