Abstract: In order to further improve the bearing capacity and motion range of 6PSS parallel mechanism, a multi-objective optimization method based on ADAMS was proposed. Firstly, the parametric model of 6PSS parallel mechanism was established by using the method of parametric key points. Then, taking the maximum driving force of the parallel mechanism and the minimum value of the center of mass angle of the moving platform as the objective functions, the relationship between the different design variables and the objective function of the mechanism was studied under the condition of satisfying the constraints. Finally, the linear weighted sum method was used to realize the multi-objective optimization of the bearing capacity and motion range of the 6PSS parallel mechanism, and its workspace was quantitatively analyzed by Monte Carlo method. The results show that the workspace of the optimized mechanism is increased by 9.8%, and the average value of the maximum driving force of the moving pair is reduced by 6.5% comparing with the initial value, which improves the bearing capacity and motion range of the 6PSS parallel mechanism, proves the effectiveness of the optimization method, and lays a foundation for the design and research of the subsequent parallel mechanism.

Key words:  parallel mechanism; ADAMS; multi-objective optimization; Monte Carlo method