Optimal design of a 3-PUU parallel mechanism with 2R1T DOFs

2017 ◽  
Vol 114 ◽  
pp. 190-203 ◽  
Author(s):  
Liping Wang ◽  
Huayang Xu ◽  
Liwen Guan
Keyword(s):  
Optimal Design ◽  
Parallel Mechanism

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

2019 ◽  
Author(s):  
Mohammad Malekpour ◽  
Farid Kaviany ◽  
Rasul FesharakiFard ◽  
Mohammad A. Khosravi
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Mechanism

Optimal Design of 6-UPU Parallel Mechanism

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.

Optimal design of a parallel mechanism with three rotational degrees of freedom

2012 ◽  
Vol 28 (4) ◽  
pp. 500-508 ◽  
Author(s):  
Tao Sun ◽  
Yimin Song ◽  
Gang Dong ◽  
Binbin Lian ◽  
Jianping Liu
Keyword(s):  
Optimal Design ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Rotational Degrees Of Freedom

Optimal Design for Redundant Six-Degrees-of-Freedom Parallel Mechanism with Heavy Load

ROBOT ◽  
2013 ◽  
Vol 35 (6) ◽  
pp. 731
Author(s):  
Xiaocheng LI ◽  
Tao GAO ◽  
Xiaolin DAI
Keyword(s):  
Optimal Design ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Heavy Load ◽  
Six Degrees Of Freedom

Performance Analysis and Optimal Design of a 3-DOF 3-PRUR Parallel Mechanism

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Daxing Zeng ◽  
Zhen Huang ◽  
Wenjuan Lu
Keyword(s):  
Optimal Design ◽  
Performance Analysis ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Performance Indices ◽  
Geometrical Characteristics

In this paper, a 3-DOF 3-PRUR parallel mechanism (PM) is chosen for performance analysis and optimal design. First, the mobility of the PM is analyzed by using screw theory. Then, the kinematics of this PM is studied based on the geometrical characteristics and the Jacobian matrix is derived. Furthermore, we research some performance indices with respect to the Jacobian matrix over the whole workspace and nondimensional parameters when the input is given, and their performance atlases are obtained with different inputs. Finally, the optimal design of the PM is determined according to the performance atlases, and some examples are presented.

Optimal Design of a Metamorphic Parallel Mechanism With Reconfigurable 1T2R and 3R Motion Based on Unified Motion/Force Transmissibility

2016 ◽  
Author(s):  
Dongming Gan ◽  
Jian S. Dai ◽  
Jorge Dias ◽  
Lakmal D. Seneviratne
Keyword(s):  
Optimal Design ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Rotation Axis ◽  
Geometric Constraint ◽  
Transmission Performance ◽  
Trade Off ◽  
Pure Rotation ◽  
Force Transmissibility

This paper presents a metamorphic parallel mechanism which can switch its motion between one translation and two rotation (1T2R) motion and pure rotation (3R) motion. This feature stems from a reconfigurable revolute (rR) joint of which the rotation axis can be altered freely. Screw based geometric constraint is used to demonstrate the reconfiguration and mobility. Unified inverse kinematics, Jacobian matrix and motion/force transmissibility are provided using screws. Based on those, singularity loci are illustrated and optimal design of some key parameters are conducted considering both the 1T2R and 3R phases. Trade-off can be made between the maximum singularity-free workspace and transmission performance based on the optimal design results in this paper for specific applications requiring 1T2R and 3R motion.

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