Optimal design of kinematic performance for a novel 2R1T parallel mechanism with pantograph units

In this research a 3-DOF parallel mechanism with anti-torsion arm is designed as a ship-borne stabilization platform. For adapting to the serious sea conditions, such platform needs to couple the advantages of good mechanism stiffness, high bearing capacity and large workspace. Accordingly, a kinetics and kinematics based nonlinear optimization model is developed for the optimal design of parallel mechanism. The model is applied to synthetically optimize the workspace, stiffness requirement and kinematic performance of the 3-DOF parallel mechanism. An acceleration genetic algorithm is employed to seek the global optimization solutions of nonlinear optimization model. The solution results indicate that the designed ship-borne stabilization platform can not only provide a good performance, but also meet the design requirements.

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Optimal design of a robotic eye based on spherical parallel mechanism by evolutionary strategy algorithm

2014 IEEE International Conference on Information and Automation (ICIA) ◽

10.1109/icinfa.2014.6932797 ◽

2014 ◽

Author(s):

Chaojiong Huang ◽

Jason Gu ◽

Jun Luo ◽

Hengyu Li ◽

Juan Zhang ◽

...

Keyword(s):

Optimal Design ◽

Parallel Mechanism ◽

Evolutionary Strategy ◽

Spherical Parallel Mechanism

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Kinematic Performance Analysis of a Novel Redundantly Actuated Parallel Mechanism

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) ◽

10.1109/aim.2019.8868353 ◽

2019 ◽

Author(s):

Haiqiang Zhang ◽

Hairong Fang ◽

Dan Zhang ◽

Bingshan Jiang ◽

Qi Zou

Keyword(s):

Performance Analysis ◽

Parallel Mechanism ◽

Redundantly Actuated ◽

Kinematic Performance

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Kinematic Analysis and Optimal Design of a New 3T1R Parallel Mechanism

2019 7th International Conference on Robotics and Mechatronics (ICRoM) ◽

10.1109/icrom48714.2019.9071872 ◽

2019 ◽

Author(s):

Mohammad Malekpour ◽

Farid Kaviany ◽

Rasul FesharakiFard ◽

Mohammad A. Khosravi

Keyword(s):

Optimal Design ◽

Kinematic Analysis ◽

Parallel Mechanism

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Evaluation of the Kinematic Performance of a 3-RRS Parallel Mechanism

Robotica ◽

10.1017/s0263574720000612 ◽

2020 ◽

pp. 1-12

Author(s):

Manxin Wang ◽

Qiusheng Chen ◽

Haitao Liu ◽

Tian Huang ◽

Hutian Feng ◽

...

Keyword(s):

Standard Deviation ◽

Parallel Mechanism ◽

Jacobian Matrix ◽

Mean Value ◽

Spherical Joint ◽

Performance Indices ◽

Active Joint ◽

Strongly Coupled ◽

The Mean ◽

Kinematic Performance

SUMMARY This paper proposes a set of novel indices for evaluating the kinematic performance of a 3-RRS (R and S denote revolute and spherical joint respectively, R denotes active joint.), parallel mechanism whose translational and rotational movements are strongly coupled. First, the indices are formulated using the decoupled overall Jacobian matrix, which is developed using coordinate transformation. Then, the influences of the homogeneous dimensionless parameters on these indices are investigated. In addition, the dimension synthesis of the 3-RRS parallel mechanism is carried out by minimizing the mean value of the kinematic performance indices and their standard deviation. The results demonstrate that the established approach facilitates good global kinematic performance of the parallel mechanism.

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Optimal Design of 6-UPU Parallel Mechanism

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.480-481.1055 ◽

2011 ◽

Vol 480-481 ◽

pp. 1055-1060

Author(s):

Guang Hua Wu ◽

Lie Hang Gong ◽

Xin Wei Ji ◽

Zhong Jun Wu ◽

Yong Jun Gai

Keyword(s):

Genetic Algorithm ◽

Genetic Algorithms ◽

Optimal Design ◽

Objective Function ◽

Parallel Mechanism ◽

Design Space ◽

Jacobian Matrix ◽

Optimal Model ◽

The Real ◽

Universal Joints

The methodology of the optimal design for the 6-UPU parallel mechanism (PM) is presented based on genetic algorithms. The optimal index which expressed by Jacobian matrix of the PM is first deduced. An optimal model is established, in which the kinematic dexterity of a parallel mechanism is considered as the objective function. The design space, the limiting length of the electric actuators and the limit angles of universal joints are taken as constraints. The real-encoding genetic algorithm is applied to the optimal design of a parallel mechanism, which is proved the validity and advantage for the optimal design of a similar mechanism.

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