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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
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Optimization of scale parameters for a 3-DOF
anthropomorphic parallel mechanism
Abstract: To improve the comprehensive performance of kinematics and statics for the parallel mechanism, based on spatial model technology, a multiobjective scale parameter optimization method for parallel mechanisms was proposed. Firstly, according to ergonomics, a three degree of freedom parallel structure 2-PUS/PRRRS was designed. Based on the screw theory, two types of branch degrees of freedom (DOF) were analyzed, and the degrees of freedom of parallel mechanism were calculated. The Euler angles were used to describe the posture of the moving platform, and the inverse position solution of the mechanism was deduced. Under the constraints of the revolution pair and driver of the elbow and wrist joints, the workspace of the mechanism was obtained by using the search method. Then, the performance evaluation indexes of angular velocity transmission and angular velocity isotropy were defined, and the contour map of evaluation indexes in the workspace was plotted. Finally, the spatial model technology was used to dimensionless the scale parameters, various global performance maps were drawn, and the optimal structural parameters were obtained by using the weighted summation method to optimize the multiobjective parameters. The results show that the global angular velocity transmission performance, torque transfer performance and isotropic performance of the optimized mechanism are increased by 16%, 80% and 40% respectively, and the effectiveness of the optimization method is verified via the significant improvement of various indexes.
Key words: parallel mechanism; optimization of scale parameters; kinematic analysis; screw theory; performance analysis
LUO Yi-qin, LV Xing-rong. Optimization of scale parameters for a 3-DOF anthropomorphic parallel mechanism［J］.Journal of Mechanical & Electrical Engineering, 2021,38(10):1340-1347,1360.
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