Analysis and Optimization of a New Variable Drive Plane 5R Parallel Mechanism

Baolei Zhang; Guanghao Liu

doi:10.16578/j.issn.1004.2539.2021.03.020

您当前的位置：

首页 >

文章列表页 >

Analysis and Optimization of a New Variable Drive Plane 5R Parallel Mechanism

Test·Analysis | 更新时间：2022-11-10

- Analysis and Optimization of a New Variable Drive Plane 5R Parallel Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 3, Pages: 117-126(2021)
- 作者机构：
  
  1.桂林航天工业学院能源与建筑环境学院，广西桂林 541004
  2.柳州职业技术学院机电工程学院，广西柳州 545006
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.03.020
  CLC：
扫描看全文
张宝磊,刘光浩.一种新型可变驱动平面5R并联机构的分析与优化[J].机械传动,2021,45(03):117-126.

Zhang Baolei,Liu Guanghao.Analysis and Optimization of a New Variable Drive Plane 5R Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(03):117-126.
张宝磊,刘光浩.一种新型可变驱动平面5R并联机构的分析与优化[J].机械传动,2021,45(03):117-126. DOI： 10.16578/j.issn.1004.2539.2021.03.020.

Zhang Baolei,Liu Guanghao.Analysis and Optimization of a New Variable Drive Plane 5R Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(03):117-126. DOI： 10.16578/j.issn.1004.2539.2021.03.020.

摘要

针对并联机构不同驱动方式变换导致系统运行性能降低的问题，提出了一种具有9种驱动方式的新型平面5R并联机构。首先，基于5R并联机构的传动方案，建立了5R并联机构的运动学模型；其次，在矩阵正交度的基础上，定义了5R并联机构的运行性能指标，并根据指标要求评估了不同驱动方式下的运行性能；最后，基于图集法优化5R并联机构的尺寸，得到了5R并联机构的最佳几何参数和最佳执行方式变换图。结果表明，提出的运行性能评估指标和优化方法具有良好的普适性，构建的新型可驱动机构通过合理转换驱动方式，可显著地改善并联机构的运动性能。

Abstract

A new planar 5R parallel mechanism with nine driving methods is proposed to solve the problem of system performance degradation caused by different driving methods of parallel mechanisms. Firstly， based on the transmission scheme of the 5R parallel mechanism， the kinematics model of the 5R parallel mechanism is established. Secondly， on the basis of matrix orthogonality， the operating performance index of 5R parallel mechanism is defined， and the operating performance under different driving modes is evaluated according to the index requirements. Finally， the size of the 5R parallel mechanism is optimized based on the atlas method， and the best geometric parameters and the best execution mode transformation diagram of the 5R parallel mechanism are obtained. The experimental results show that the proposed performance evaluation index and optimization method have good universality. The new driveable mechanism constructed can significantly improve the kinematic performance of the parallel mechanism by reasonably changing the drive mode.

关键词

5R并联机构可变驱动方式性能指标图集法最优化

Keywords

5R parallel mechanismVariable drive modePerformance indexAtlas methodOptimization

references

于珊珊，张建军，李为民，等.RR&P5R型全球面工作空间解耦并联机构研究与优化［J］.机械传动，2020，44（3）：14-20.

YU Shanshan，ZHANG Jianjun，LI Weimin，et al.Research and optimization of RR&P5R global surface workspace decoupling parallel mechanism［J］.Journal of Mechanical Transmission，2020，44（3）：14-20.

张续冲，张瑞秋，张宪民.考虑运动副间隙的平面5R并联机构动力学分析［J］.机械设计与研究，2018，34（2）：42-45.

ZHANG Xuchong，ZHANG Ruiqiu，ZHANG Xianmin.Dynamic analysis of planar 5R parallel mechanism considering the clearance of moving pairs［J］.Mechanical Design and Research，2018，34（2）：42-45.

吴霄，秦慧斌，申旭阳，等.大工作空间5R平面并联机构的正逆互解验证实验研究［J］.机械传动，2018，42（3）：129-135.

WU Xiao，QIN Huibin，SHEN Xuyang，et al.Experimental study on verification of positive and inverse mutual solutions of 5R planar parallel mechanism in large workspace［J］.Journal of Mechanical Transmission，2018，42（3）：129-135.

解本铭，孙伟.基于BP神经网络5-P4R并联机构位置正解研究［J］.机床与液压，2016，44（17）：33-35.

XIE Benming，SUN Wei.Study on forward position solution of 5-P4R parallel mechanism based on BP neural network［J］.Machine Tool and Hydraulics，2016，44（17）：33-35.

宋伟，许勇，刘勇，等.一种新型分岔并联机构的多自由度模式分析［J］.机械传动，2020，44（4）：45-53.

SONG Wei，XU Yong，LIU Yong，et al.Multi-degree-of-freedom mode analysis of a new type of bifurcated parallel mechanism［J］.Journal of Mechanical Transmission，2020，44（4）：45-53.

汪满新，黄田.1T2R 3自由度并联机构拓扑结构综合［J］.机械工程学报，2015，51（17）：1-7.

WANG Manxin，HUANG Tian.Topological structure synthesis of 1T2R3-DOF parallel mechanism［J］.Journal of Mechanical Engineering，2015，51（17）：1-7.

WANG L，ZHANG Z，SHAO Z，et al.Analysis and optimization of a novel planar 5R parallel mechanism with variable actuation modes［J］.Robotics and Computer Integrated Manufacturing，2019，56：178-190.

CONSTANTINO R P，FRANCISCO J C，JASCHA P，et al.Application of the principle of energy equivalence to obtain suitable models of parallel planar mechanisms for identification including friction parameters.a case study：5R RePlaLink haptic mechanism［J］.Mechatronics，2018，56：87-100.

AGINAGA J，ALTUZARRA O，MACHO E.Assessing position error due to clearances and deformations of links in parallel manipulators［J］.Journal of Mechanical Design，2013，135（4）：712-718.

SANGROK J，KIM J，SEO T W.Optimization of a redundantly actuated 5R symmetrical parallel mechanism based on structural stiffness［J］.Robotica，2014，33（9）：1973-1983.

刘伟，曹亚斌，张洪军，等.一种新型可重构5R机构的运动学分析［J］.包装工程，2018，39（7）：157-161.

LIU Wei，CAO Yabin，ZHANG Hongjun，et al.Kinematics analysis of a new reconfigurable 5R mechanism［J］.Packaging Engineering，2018，39（7）：157-161.

李玉昆，李永泉，王艮川，等.球面5R并联机器人运动规划方法及实验［J］.机械设计与研究，2015，31（4）：11-15.

LI Yukun，LI Yongquan，WANG Genchuan，et al.Motion planning method and experiment of spherical 5R parallel robot［J］.Mechanical Design and Research，2015，31（4）：11-15.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Performance Analysis and Dimensional Optimization of 2RUP_aR-2RRU Parallel Mechanism

Related Author

No data

Related Institution

School of Intelligence Manufacturing， Chongqing Vocational Institute of Engineering

Chongqing Municipal Key Laboratory of Mechanism Design and Control for Manufacturing Equipment， Chongqing Technology and Business University

School of Intelligence Manufacturing and Automotive Engineering， Luzhou Vocational and Technical College

⁰