Kinematic Analysis and Optimization Design of 2-CPR/UPU Three Translation Parallel Mechanism

Li Lihong; Zhang Fahai; Zhu Lei

doi:10.16578/j.issn.1004.2539.2022.10.010

您当前的位置：

首页 >

文章列表页 >

Kinematic Analysis and Optimization Design of 2-CPR/UPU Three Translation Parallel Mechanism

Design· Calculation | 更新时间：2022-11-05

- Kinematic Analysis and Optimization Design of 2-CPR/UPU Three Translation Parallel Mechanism
- Journal of Mechanical Transmission Vol. 46, Issue 10, Pages: 64-70(2022)
- 作者机构：
  
  1.江苏安全技术职业学院机械工程学院，江苏徐州 221000
  2.中国矿业大学材料与物理学院，江苏徐州 221116
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.10.010
  CLC：
扫描看全文
李丽红,张发海,朱磊.2-CPR/UPU三平移并联机构运动学分析与优化设计[J].机械传动,2022,46(10):64-70.

Li Lihong,Zhang Fahai,Zhu Lei.Kinematic Analysis and Optimization Design of 2-CPR/UPU Three Translation Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(10):64-70.
李丽红,张发海,朱磊.2-CPR/UPU三平移并联机构运动学分析与优化设计[J].机械传动,2022,46(10):64-70. DOI： 10.16578/j.issn.1004.2539.2022.10.010.

Li Lihong,Zhang Fahai,Zhu Lei.Kinematic Analysis and Optimization Design of 2-CPR/UPU Three Translation Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(10):64-70. DOI： 10.16578/j.issn.1004.2539.2022.10.010.

摘要

针对空间三平移并联机构输入/输出强耦合所引起的实时控制的问题，根据方位特征（Position and orientation characteristic，POC）方程的并联机构拓扑设计理论和方法，提出一种零耦合度的三平移并联机构，机构由2条CPR和1条UPU支链构成，有解析式位置正解、耦合度低、较好的运动灵巧性能、工作空间大等特点。分别对方位特征集、自由度、耦合度等主要拓扑特性进行计算，建立运动约束方程并得到机构输入、输出位置解析式。研究奇位异形发生的条件，并分析以雅可比矩阵条件数倒数的灵巧度和动平台执行末端的操作空间等运动性能指标，最后，以机构的全局灵巧度作为优化目标，选择蝗虫优化算法（Grasshopper optimization algorithm，GOA）进行尺寸参数的优化设计。为该并联机构结构设计和高精度位置控制提供理论参考依据。

Abstract

In view of the real-time control problem caused by the strong coupling of input/output of the parallel mechanism, a three translation parallel mechanism with zero coupling degree is proposed according to the topological design theory and method of parallel mechanism of orientation feature position and orientation characteristic(POC) equation. The mechanism is composed of two CPR and one UPU branch chain, which has the characteristics of analytical position positive solution, low coupling degree, good flexibility of motion and large working space. The main topological characteristics such as azimuth feature set, freedom degree and coupling degree are calculated respectively. The motion constraint equation is established and the analytic expressions of input and output positions of the mechanism are obtained. The conditions of odd shape occurrence are studied, and the performance indexes such as dexterity of reciprocal of Jacobian matrix condition number and operation space at the end of dynamic platform are analyzed. Finally, the global dexterity of the mechanism is taken as the target of configuration optimization and the optimization of size parameters is carried out by the grasshopper optimization algorithm(GOA). It provides theoretical reference for the structural design and high precision position control of the parallel mechanism.

关键词

并联机构三平移耦合度工作空间灵巧度蝗虫优化算法

Keywords

Parallel mechanismThree translationCoupling degreeWorkspaceDexterityGOA

references

LI Y，XU Q.Dynamic modeling and robust control of a 3-PRC translational parallel kinematic machine［J］.Robotics and Computer Integrated Manufacturing，2009，25（3）：630-640.

VISCHER P，CLAVEL R.Kinematic calibration of the parallel delta robot［J］.Robotica，1998，16（2）.207-218.

TSAI L W，JOSHI S.Kinematics and optimization of a spatial 3-UPU parallel manipulator［J］.Journal of Mechanical Design，2000，122（4）：439-446.

KELAIAIA R，COMPANY O，ZAAYRI A.Multiobjective optimization of a linear delta parallel robot［J］.Mechanism & Machine Theory，2012，50：159-178.

Desai R，Muthuswamy S.A forward，inverse kinematics and workspace analysis of 3RPS and 3RPS-R parallel manipulators［J］.Iranian Journal of Science and Technology，Transactions of Mechanical Engineering，2021，45（1）：115-131.

毛玺，张彦斌，赵浥夫.一种无耦合移动并联机器人机构的结构设计与运动学分析［J］.机械传动，2019，43（8）：92-97.

MAO Xi，ZHANG Yanbin，ZHAO Yifu.Structural design and kinematics analysis of a uncoupled translational parallel robotic Mechanism［J］.Journal of Mechanical Transmission，2019，43（8）：92-97.

季晔.具有弱耦合无奇异特征的空间移动并联机构及运动学分析［J］.组合机床与自动化加工技术，2021（1）：36-39.

JI Ye.The design and kinematics analysis of a spatial moving parallel mechanism with weak coupling and non-singularity［J］.Modular Machine Tool and Automatic Manufacturing Technique，2021（1）：36-39.

程刚，葛世荣.三平移非对称解耦并联机构及其运动学分析［J］.机械传动，2007，31（6）：5-8.

CHENG Gang，GE Shirong.A un-symmetrical decoupling parallel mechanism with three translational degrees of freedom and its kinematics analysis［J］.Journal of Mechanical Trasmission，2007，31（6）：5-8.

沈惠平，曾博雄，尤晶晶，等.具有解析式位置正解的三平移并联机构设计与分析［J］.农业机械学报，2020，51（2）：383-391.

SHEN Huiping，ZENG Boxiong，YOU Jingjing，et al.Topology design and analysis of three-translation parallel mechanism with analytical direct position solutions［J］.Transactions of the Chinese Society for Agricultural Machinery，2020，51（2）：383-391.

曾达幸，李晓帆，邱雪松，等.新型三平移解耦并联机构的综合［J］.中国机械工程，2015，26（10）：1279-1283.

ZENG Daxing，LI Xiaofan，QIU Xuesong，et al.Type synthesis of a novel three degree of freedom translational decoupled parallel mechanism［J］.China Mechanical Engineering，2015，26（10）：1279-1283.

朱伟，戴志明，刘晓飞，等.一种新型弱耦合三平移并联机器人机构及其运动学分析［J］.中国机械工程，2017，28（13）：1561-1566.

ZHU Wei，DAI Zhiming，LIU Xiaofei，et al.A novel weak-coupling three-translation parallel robot mechanisms and its kinematics analysis［J］.Chinese Journal of Mechanical Engineering，2017，28（13）：1561-1566.

杨廷力.机器人机构拓扑结构学［M］.北京：机械工业出版社，2004：53-87.

YANG Tingli.Topological structure of robot mechanism［M］.Beijing：China Machine Press，2004：53-87.

覃艳明，赵静一，仝少帅，等.八自由度机械臂位置运动学模型解析解［J］.农业机械学报，2019，50（1）：400-405.

QIN Yanming，ZHAO Jingyi，TONG Shaoshuai，et al.Analytical solution of kinematics model of eight-degree-of-freedom manipulator［J］.Transactions of the Chinese Society for Agricultural Machinery，2019，50（1）：400-405.

文世坤，车林仙，杜力，等.三移动一转动4-PRP_aU并联机构运动学分析［J］.机械传动，2020，44（11）：121-126.

WEN Shikun，CHE Linxian，DU Li，et al.Kinematics analysis of 3T1R 4-PRP_aU parallel mechanism［J］.Journal of Mechanical Transmission，2020，44（11）：121-126.

龚峻山，方跃法，靳晓东.基于并联手指结构的多功能灵巧手的设计与研究［J］.中国机械工程，2020，31（23）：2837-2846.

GONG Junshan，FANG Yuefa，JIN Xiaodong.Design and research of multifunctional dexterous hands based on parallel finger structure ［J］.China Mechanical Engineering，2020，31（23）：2837-2846.

黄超，梁圣涛，张毅，等.基于多目标蝗虫优化算法的移动机器人路径规划［J］.计算机应用，2019，39（10）：2859-2864.

HUANG Chao，LIANG Shengtao，ZHANG Yi，et al.Path planning of mobile robot based on multi-objective grasshopper optimization algorithm［J］.Journal of Computer Applications，2019，39（10）：2859-2864.

ELSAYED A M，MISHREF M M，FARRAG S M.Optimal allocation and control of fixed and switched capacitor banks on distribution systems using grasshopper optimisation algorithm with power loss sensitivity and rough set theory［J］.Generation，Transmission & Distribution，IET，2019，13（17）：3863-3878.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC

Kinematics Analysis and Multi-objective Scale Synthesis of a New Three Translation Parallel Mechanism

Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism

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

Configuration Synthesis and Kinematics Analysis of the 1R2T Parallel Mechanism in the Chinese Baijiu Box Packaging Production Line

Related Author

No data

Related Institution

Nanjing Vocational Institute of Mechatronic Technology

Research Center of Modern Mechanisms, Changzhou University

Mechanical & Electrical Department，Guangdong Polytechnic of Environmental Protection Engineering

College of Mechanical and Electrical Engineering，Guangdong University of Science and Technology

School of Mechanical Engineering，Changzhou University

⁰