Size Optimization Design of 3T1R Parallel Mechanism based on Workspace

Liu Zhenkun; Luo Yufeng; Shi Zhixin; Xia Yongqiang; Xie Dongfu

doi:10.16578/j.issn.1004.2539.2018.10.015

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Size Optimization Design of 3T1R Parallel Mechanism based on Workspace

更新时间：2022-10-20

- Size Optimization Design of 3T1R Parallel Mechanism based on Workspace
- Vol. 42, Issue 10, Pages: 77-82(2018)
- 作者机构：
  
  1. 南昌大学机电工程学院
  2. 华东交通大学
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.10.015
  CLC：
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[1]刘振坤,罗玉峰,石志新,夏永强,谢冬福.基于工作空间的3T1R并联机构尺寸优化设计[J].机械传动,2018,42(10):77-82.

Liu Zhenkun, Luo Yufeng, Shi Zhixin, et al. Size Optimization Design of 3T1R Parallel Mechanism based on Workspace. [J]. 42(10):77-82(2018)
[1]刘振坤,罗玉峰,石志新,夏永强,谢冬福.基于工作空间的3T1R并联机构尺寸优化设计[J].机械传动,2018,42(10):77-82. DOI： 10.16578/j.issn.1004.2539.2018.10.015.

Liu Zhenkun, Luo Yufeng, Shi Zhixin, et al. Size Optimization Design of 3T1R Parallel Mechanism based on Workspace. [J]. 42(10):77-82(2018) DOI： 10.16578/j.issn.1004.2539.2018.10.015.

摘要

采用一种球坐标变步长迭代快速搜索算法,分析求解了一种3T1R并联机构的可达工作空间,并用天牛须搜索算法对其机构尺寸进行了优化设计。首先,对机构进行位置分析,得到其运动学逆解;然后,采用一种球坐标变步长迭代快速搜索算法求解得到了该3T1R并联机构的可达工作空间,并以工作空间体积大小为衡量指标,定量分析了并联机构各结构参数对工作空间体积的影响;最后,以工作空间体积最大值为目标,利用天牛须搜索算法对并联机构结构参数进行了优化,得到了最优值。该求解算法运算步骤少,求解速度快,为此类并联机构的实际应用提供了理论依据。

Abstract

An iterative rapid search algorithm of spherical coordinate variable step size is used to analyze the reachable workspace of a 3 T1 R parallel mechanism. The size of the mechanism is optimized by using the beetle antennae search algorithm. Firstly,the position of the mechanism is analyzed and its kinematic inverse solution is obtained. Then,an iterative rapid search algorithm with spherical coordinate variable step size is used to solve the reachable workspace of the 3 T1 R parallel mechanism. The workspace is measured by the size of workspace index,the influence of the structural parameters of the parallel mechanism on the working space volume is quantitatively analyzed. Finally,taking the maximum working space volume as the target,the structural parameters of the parallel mechanism are optimized by using the beetle antennae search algorithm,and the optimal value is obtained. The algorithm has fewer calculation steps and fast solution speed,which provides a theoretical basis for the practical application of such parallel mechanism.

关键词

并联机构工作空间球坐标天牛须搜索算法参数优化

Keywords

Parallel mechanismWorkspaceSpherical coordinateBeetle antennae search algorithmParameter optimum

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