Kinematic Performance Analysis and Dimensional Optimization for 2PUS-PU Parallel Mechanism

Linxian Che; Jian Yi; Bing He; Xuedong Lin

doi:10.16578/j.issn.1004.2539.2020.12.005

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Kinematic Performance Analysis and Dimensional Optimization for 2PUS-PU Parallel Mechanism

Theory·Reserach | 更新时间：2022-11-10

- Kinematic Performance Analysis and Dimensional Optimization for 2PUS-PU Parallel Mechanism
- Journal of Mechanical Transmission Vol. 44, Issue 12, Pages: 29-35(2020)
- 作者机构：
  
  1.重庆工程职业技术学院智能制造与交通学院，重庆 402260
  2.重庆工商大学制造装备机构设计与控制重庆市重点实验室，重庆 400067
  3.泸州职业技术学院智能制造泸州市重点实验室，四川泸州 646600
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.12.005
  CLC：
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车林仙,易建,何兵等.2PUS-PU并联机构运动性能分析及尺度优化[J].机械传动,2020,44(12):29-35.

Che Linxian,Yi Jian,He Bing,et al.Kinematic Performance Analysis and Dimensional Optimization for 2PUS-PU Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(12):29-35.
车林仙,易建,何兵等.2PUS-PU并联机构运动性能分析及尺度优化[J].机械传动,2020,44(12):29-35. DOI： 10.16578/j.issn.1004.2539.2020.12.005.

Che Linxian,Yi Jian,He Bing,et al.Kinematic Performance Analysis and Dimensional Optimization for 2PUS-PU Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(12):29-35. DOI： 10.16578/j.issn.1004.2539.2020.12.005.

摘要

含恰约束支链的两转动一移动2PUS-PU并联机构在约束方向无伴随运动，可有效降低控制难度。在机构拓扑结构特征分析的基础上，应用矢量法推导出机构位姿、速度和加速度方程。根据Jacobi矩阵奇异性，考察了机构可能存在的奇异位形。采用方位角和倾摆角描述末端执行器输出轴的姿态，并以机构运动/力传递性能评价指标为基础，给出规则传递姿态工作空间（Regular transmission orientational workspace，RTOW）定义和计算方法。以最大化RTOW半径为目标，建立机构尺度参数约束优化设计模型，并应用粒子群优化和差分进化算法求解机构尺度参数优化设计问题。最后，给出机构尺度优化设计实例。结果表明，模型和算法有效可行。

Abstract

The 1T2R 2PUS-PU parallel mechanism with one suitable constrained branch has no unwanted parasitic motion occurred in the constraint directions，then reducing efficiently the control difficulty. Based on the topological characteristic analysis of mechanism，its equations of displacement and orientation，velocity，and acceleration analysis are derived by means of the vector method. With the aid of the singularity of Jacobi matrix，the possible singular configurations of mechanism are investigated. The orientation of end-effector output axis is depicted by using the azimuth and tilt angles. Introducing the evaluation indices for motion/force transmission performance of mechanism，the definitions and calculation methods of regular transmission orientational workspace （RTOW） are given. A constrained optimization model is constructed to formulate the design problem of dimensional parameters on the maximizing radius of RTOW，and particle swarm optimization and differential evolution algorithm are adopted to solve this problem. A case of dimensional optimization design is given to indicate that the proposed model and algorithm are effective and feasible.

关键词

并联机构运动学分析姿态工作空间尺度综合约束优化设计

Keywords

Parallel mechanismKinematic analysisOrientational workspaceDimensional synthesisConstrained optimization design

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