Study on the Workspace and Structural Parameter Optimum of Parallel Mechanism based on Waterwave Method

Xia Yongqiang; Luo Yufeng; Shi Zhixin; Yang Long; Zou Jinlong; Li Shaoshuai

doi:10.16578/j.issn.1004.2539.2018.06.013

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Study on the Workspace and Structural Parameter Optimum of Parallel Mechanism based on Waterwave Method

更新时间：2022-10-20

- Study on the Workspace and Structural Parameter Optimum of Parallel Mechanism based on Waterwave Method
- Vol. 42, Issue 6, Pages: 58-63(2018)
- 作者机构：
  
  1. 南昌大学机电工程学院
  2. 华东交通大学机电与车辆工程学院
  3. 四川航天拓鑫玄武岩实业有限公司
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.06.013
  CLC：
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[1]夏永强,罗玉峰,石志新,羊龙,邹金龙,李少帅.基于水波法的并联机构的工作空间分析与参数优化研究[J].机械传动,2018,42(06):58-63.

Xia Yongqiang, Luo Yufeng, Shi Zhixin, et al. Study on the Workspace and Structural Parameter Optimum of Parallel Mechanism based on Waterwave Method. [J]. 42(6):58-63(2018)
[1]夏永强,罗玉峰,石志新,羊龙,邹金龙,李少帅.基于水波法的并联机构的工作空间分析与参数优化研究[J].机械传动,2018,42(06):58-63. DOI： 10.16578/j.issn.1004.2539.2018.06.013.

Xia Yongqiang, Luo Yufeng, Shi Zhixin, et al. Study on the Workspace and Structural Parameter Optimum of Parallel Mechanism based on Waterwave Method. [J]. 42(6):58-63(2018) DOI： 10.16578/j.issn.1004.2539.2018.06.013.

摘要

提出一种基于混沌映射算法的水波法来实现平面并联机构工作空间的快速搜索,以3-RRR平面机器人为例对其可达工作空间、定姿态工作空间、灵活工作空间进行了分析,定义了一个评价转动能力指标来分析机构在可达工作空间内的转动能力,并通过MATLAB实现可视化绘图,直观地描述了转动能力在工作空间内的分布情况。最后通过遗传算法对机构进行尺度优化,有效提高了机构的转动能力。

Abstract

A waterwave method based on chaotic mapping algorithm for the fast search algorithm of planar parallel mechanism workspace is put forward in the study. Taking the 3-RRR parallel mechanism as a example,the reachable workspace,certain posture workspace and dexterous workspace are analyzed. A rotation ability evaluation index is defined to analyze the mechanism rotation capacity inside workspace and visualization drawing by MATLAB,the distribution of rotational capacity in the working space is intuitively reflected. Finally,the mechanism is optimized by genetic algorithm to improve the mechanism rotational ability.

关键词

混沌映射算法并联机构工作空间转动能力参数优化

Keywords

Chaotic mapping algorithmParallel mechanismWorkspaceRotation abilityParameter optimum

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Related Institution

Department of Automotive and Mechanical Engineering， Gansu Vocational and Technical College of Communications

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School of Mechanical and Electrical Engineering,Nanchang University

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