Optimization Design of 3-TPT Parallel Robot Based on ADAMS Simulation Technology

2009 ◽  
Author(s):  
C. H. Li ◽  
B. J. Yang ◽  
G. Q. Cai
Keyword(s):  
Optimization Design ◽  
Parallel Robot ◽  
Simulation Technology ◽  
Adams Simulation

Dynamics Design of a Planar Controllable Five Bar Mechanism Based on Genetic Algorithm

2007 ◽  
Author(s):  
Ke Zhang
Keyword(s):  
Genetic Algorithm ◽  
Optimization Design ◽  
Optimization Method ◽  
Parallel Robot ◽  
Bond Graph ◽  
Dynamics Analysis ◽  
Hybrid Mechanism ◽  
Ga Algorithm ◽  
Power Bond Graph ◽  
Bond Graph Theory

A hybrid five bar mechanism is a typical planar parallel robot. It is a configuration that combines the motions of two characteristically different motors by means of a five bar mechanism to produce programmable output. Hybrid five bar mechanism is the most representative one of hybrid mechanism. In this paper, considering the bond graph can provide a compact and versatile representation for kinematics and dynamics of hybrid mechanism, the dynamics analysis for a hybrid five-bar mechanism based on power bond graph theory is introduced. Then an optimization design of hybrid mechanism is performed with reference to dynamic objective function. By the use of the properties of global search of genetic algorithm (GA), an improved GA algorithm is proposed based on real-code. Optimum dimensions are obtained assuming there are no dimensional tolerances or clearances. Finally, a numerical example is carried out, and the simulation result shows that the optimization method is feasible and satisfactory in the design of hybrid mechanism.

Kinematics Simulation of Steel Tube Rotating Mechanism Based on ADAMS

2011 ◽  
Vol 130-134 ◽  
pp. 2647-2650
Author(s):  
Fu Jun Chai ◽  
Jin You Xu ◽  
Ying Xu
Keyword(s):  
Optimization Design ◽  
Virtual Prototyping ◽  
Structure Optimization ◽  
Steel Tube ◽  
Parameter Selection ◽  
Simulation Software ◽  
Uniform Rotation ◽  
Movement Process ◽  
Kinematics Simulation ◽  
Adams Simulation

Taking a new steel tube rotating mechanism as the research object, the model is simplified and the virtual prototyping model of the mechanism is established. The mechanism kinematics simulation is carried out with ADAMS simulation software. The motion law and state in two conditions are comparatively analyzed. Analysis results show that, in steel tube clamping stage the motion of the clip rod is of variable deceleration; And in rotating stage, mechanism is of accelerated rotation with variable acceleration when the cylinder input, while mechanism is of uniform rotation when the crank input； And then the cylinder is with positive and reverse swings throughout the movement process. The analysis results provide the basis for institution parameter selection and structure optimization design.

Design Optimization of 6-HTRT Parallel Robot Orientated on Workspace

2003 ◽  
Author(s):  
Hui Yu ◽  
Jinsong Wang ◽  
Guanghong Duan ◽  
Lining Sun
Keyword(s):  
Design Optimization ◽  
Motion Control ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Optimization Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Objective Functions ◽  
Restriction Factors

In this paper an optimization method based on the Mechanics of Parallel Robots and orientated on workspace is conducted in the construction of 6-HTRT parallel robot. By analyzing the characteristics of specific workspace and setting up objective functions, optimizations are implemented on the design of parallel robot. As a result of the optimization design, the parallel robot not only figures the minimum overall size of robot structural, but also has workspace unrestricted by the limit range of Hooke joint’s conical angles. The restriction factors on workspace of 6-HTRT parallel robot are reduced thus the algorithm for motion control of the robot is simplified and the performance of the parallel mechanism is improved.

Structure Optimal Design of Pneumatic 6-DOF Parallel Robot Based on Natural Frequency

2010 ◽  
Vol 450 ◽  
pp. 349-352 ◽  
Author(s):  
Bo Wu ◽  
Li Xu ◽  
Xiao Dong Yu ◽  
Zhi Wei Wang ◽  
He Xu
Keyword(s):  
Mathematical Model ◽  
Optimal Design ◽  
Natural Frequency ◽  
Dynamic Equation ◽  
Structural Design ◽  
Optimization Design ◽  
Structural Parameters ◽  
Parallel Robot ◽  
Optimization Rule ◽  
Design Aspect

. In order to improve the dynamic response rapidity and positioning precision for pneumatic 6-DOF parallel robot from the structural design aspect, a mathematical model of natural frequency for the parallel robot is developed based on dynamic equation by using vibration theory. The influences of structural parameters on minimal natural frequency are analyzed by simulation and an optimization rule of structural parameters based on minimal natural frequency is proposed. The optimization rule has advantages of simplification and efficiency, which provides a new theoretical gist for optimization of structural parameters as well as for checking the results of the actual natural frequency for pneumatic 6-DOF parallel robot. And this new rule is also valuable for structural optimization design of other similar parallel robot.

Robust Optimal Design of Compliant Parallel Robot for the Complex Multiple Response Problems

2014 ◽  
Vol 668-669 ◽  
pp. 518-521
Author(s):  
Cui Qin Wu ◽  
Yin Feng Wu
Keyword(s):  
Monte Carlo Simulation ◽  
Optimization Design ◽  
Compliant Mechanism ◽  
Parallel Robot ◽  
Multiple Response ◽  
Simulation Methods ◽  
Flexible Hinge ◽  
Strong Robustness ◽  
Robust Optimal Design ◽  
Robust Optimization Design

According to the flexibility relationships of the 3-RRR compliant parallel micromotion platform along the X, Y direction and the rotation around the Z axis, using the Taguchi Design and Monte Carlo Simulation methods, considering the strong robustness of the flexibility in X direction and the existence of errors of the flexible hinge geometrical sizes, the flexibility iterative optimization for the compliance of the micromotion platform along the translation in Y-direction and the rotation around the Z axis are carried out respectively, the best geometry sizes of flexible hinge are find out, which provides a new solution of robust optimization design with multiple response problems of compliant mechanism consider uncertainty disturbance situation. Finally the correctness and validity of the method are verified with an example.

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