Performance Analysis and Dimensional Optimization of 2RUP<sub>a</sub>R-2RRU Parallel Mechanism

Linxian Che; Bing He; Jie Li; Haiyi Jiang

doi:10.16578/j.issn.1004.2539.2022.09.007

您当前的位置：

首页 >

文章列表页 >

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

Theory·Reserach | 更新时间：2022-09-26

- Performance Analysis and Dimensional Optimization of 2RUP_aR-2RRU Parallel Mechanism
- Journal of Mechanical Transmission Vol. 46, Issue 9, Pages: 49-58(2022)
- 作者机构：
  
  1.重庆工程职业技术学院智能制造学院，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与汽车工程学院，四川泸州 646600
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.09.007
  CLC：
扫描看全文
车林仙,何兵,李杰等.2RUP_aR-2RRU并联机构性能分析与尺度优化[J].机械传动,2022,46(09):49-58.

Che Linxian,He Bing,Li Jie,et al.Performance Analysis and Dimensional Optimization of 2RUP_aR-2RRU Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(09):49-58.
车林仙,何兵,李杰等.2RUP_aR-2RRU并联机构性能分析与尺度优化[J].机械传动,2022,46(09):49-58. DOI： 10.16578/j.issn.1004.2539.2022.09.007.

Che Linxian,He Bing,Li Jie,et al.Performance Analysis and Dimensional Optimization of 2RUP_aR-2RRU Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(09):49-58. DOI： 10.16578/j.issn.1004.2539.2022.09.007.

摘要

提出了一种新型面对称两移动两转动2RUP,a,R-2RRU并联机构，应用旋量理论分析其自由度，并确定了其运动特性。该机构可作为振动筛的本体结构。建立机构位置分析模型，得到位置逆解解析表达式；应用矢量法分析机构速度，得到输入、输出Jacobian矩阵，并据此分析了机构奇异位形；应用输入、输出传递指标评价机构运动和力传递性能，给出有效传递姿态工作空间和有效传递位置工作空间（Effective transmission positional workspace，ETPW）的定义和数值计算方法。以ETPW最大为目标，建立机构尺度参数约束优化模型，并应用差分进化算法求解该问题；给出了机构尺度优化设计实例。结果表明，模型和算法可行有效，优化后的机构ETPW明显增大。

Abstract

A novel plane symmetric 2RUP,a,R-2RRU parallel mechanism with two translational and two rotational degrees of freedom is proposed， and it is can be used as the main body structure of a vibrating screen. The screw theory is applied to analyze its degrees of freedom and to identify the motion characteristics. The displacement analysis model is established to obtain the analytical expressions of inverse displacement solutions to this mechanism. This study analyzes the velocity of the mechanism by means of the vector method and derives the input and output Jacobian matrices. On this basis， the possible singular configurations of the mechanism are investigated. The input and output transmission indices are used to evaluate the motion and force transmission performances of the mechanism. Furthermore， the definition， the numerical calculation method of the effective transmission orientation workspace and the effective transmission positional workspace （ETPW） are introduced. A constrained optimization model is constructed to formulate the design problem of dimensional parameters on the maximizing ETPW， and the differential evolutionary algorithm is employed to solve this problem. A case of dimensional optimization design of the mechanism is given to show that the presented model and algorithm are feasible and effective. The ETPW of the mechanism obtained by optimization design is better than that obtained by the experience design.

关键词

并联机构位置分析奇异位形性能指标尺度参数优化

Keywords

Parallel mechanismDisplacement analysisSingular configurationPerformance IndexDimensional parameters optimization

references

GAO F，YANG J L，GE Q J.Type synthesis of parallel mechanisms having the second class GF sets and two dimensional rotations［J］.Journal of Mechanisms and Robotics，2011，3（1）：011003.

杨廷力，刘安心，罗玉峰，等.机器人机构拓扑结构设计［M］.北京：科学出版社，2012：231-251.

YANG Tingli，LIU Anxin，LUO Yufeng，et al.Theory and application of robot mechanism topology［M］.Beijing：Science Press，2012：231-251.

范彩霞，刘宏昭，张彦斌.基于构型演变和李群理论的2T2R型四自由度并联机构型综合［J］.中国机械工程，2010，21（9）：1101-1105.

FAN Caixia，LIU Hongzhao，ZHANG Yanbin.Type synthesis of 2T2R 4-DOF parallel mechanism based on configuration evolution and Lie group theory［J］.China Mechanical Engineering，2010，21（9）：1101-1105.

FAN C X，LIU H Z，ZHANG Y B.Type synthesis of 2T2R，1T2R and 2R parallel mechanisms［J］.Mechanism and Machine Theory，2013，61（3）：184-190.

张彦斌，丁丁，吴鑫，等.2PRS-2PSS并联机构的设计与运动学分析［J］.中国机械工程，2016，27（21）：2855-2861.

ZHANG Yanbin，DING Ding，WU Xin，et al.Design and kinematics analysis of a 2PRS-2PSS parallel mechanism［J］.China Mechanical Engineering，2016，27（21）：2855-2861.

GAN D，DAI J S，DIAS J，et al.Singularity-free workspace aimed optimal design of a 2T2R parallel mechanism for automated fiber placement［J］.Journal of Mechanisms and Robotics，2015，7（4）：041022.

YE W，FANG Y F，GUO S，et al.Type synthesis of 2R2T parallel mechanisms based on motion equivalent chain method［J］.Proceedings of the Institution of Mechanical Engineers.Part C：Journal of Mechanical Engineering Science，2014，228（17）：3209-3217.

WANG C Z，FANG Y F，FANG H R.Novel 2R3T and 2R2T parallel mechanisms with high rotational capability［J］.Robotica，2017，35（2）：401-418.

YE W，HE L Y，LI Q C.A new family of symmetrical 2T2R parallel mechanisms without parasitic motion［J］.Journal of Mechanisms and Robotics，2018，10（1）：011006.

李杰，车林仙，杜力，等.面对称（CRR）2S-（3R）2R并联机构运动学分析［J］.机械传动，2021，45（6）：58-64.

LI Jie，CHE Linxian，DU Li，et al.Kinematics analysis of a planar symmetric （CRR）2S-（3R）2R parallel manipulator［J］.Journal of Mechanical Transmission，2021，45（6）：58-64.

车林仙，程志红，何兵.4-PRUR并联机构及其位置分析的差分进化算法［J］.机械工程学报，2010，46（23）：36-44.

CHE Linxian，CHENG Zhihong，HE Bing.4-PRUR parallel mechanism and its displacement analysis based on differential evolution algorithm［J］.Journal of Mechanical Engineering，2010，46（23）：36-44.

OPARA K ，ARABAS J.Diﬀerential evolution：a survey of theoretical analyses［J］.Swarm and Evolutionary Computation，2019，44：546-558.

车林仙，何兵，文世坤，等.（2PUR-UP）-PUS并联机构运动性能分析［J］.机械设计，2021，38（6）：86-95.

CHE Linxian，HE Bing，WEN Shikun，et al.Analysis on kinematic performance of the （2PUR-UP）-PUS parallel mechanism［J］.Journal of Machine Design，2021，38（6）：86-95.

刘辛军，谢福贵，汪劲松.并联机器人机构学基础［M］.北京：高等教育出版社，2018：105-123，232-235.

LIU Xinjun，XIE Fugui，WANG Jinsong.Fundamental of parallel robotic mechanisms［M］.Beijing：Higher Education Press，2018：105-123，232-235.

CHE L X，CHEN G W，JIANG H Y，et al.Dimensional synthesis for a Rec4 parallel mechanism with maximum transmission workspace［J］.Mechanism and Machine Theory，2020，153：104008.

车林仙，王桃芬，何兵.姿态能力最优的2PUR-PSR并联机构尺度综合［J］.机械设计，2019，36（12）：108-115.

CHE Linxian，WANG Taofen，HE Bing.Dimensional synthesis of a 2PUR-PSR parallel manipulator with optimal orientational capability［J］.Journal of Machine Design，2019，36（12）：108-115.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Performance Analysis and Dimensional Multi-objective Optimization for an Asymmetry 2UPS-UP Parallel Mechanism

Workspace and Singular Configuration Analysis of Spatial 3-DOF Parallel Mechanism

Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism

Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Performance Analysis and Dimensional Optimization of a 2R1T Parallel Mechanism with Remote Center of Motion

Related Author

No data

Related Institution

School of Mechanical Engineering， Luzhou Vocational and Technical College

School of Intelligent Manufacturing， Chongqing Vocational Institute of Engineering

Baoji University of Arts and Sciences

Shaanxi Polytechnic Institute

School of Mechanical Engineering, Chongqing University of Technology

⁰

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

DOI：10.16578/j.issn.1004.2539.2022.09.007

摘要

Abstract

关键词

Keywords

references

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