Optimal design of an asymmetrical parallel mechanism

Wu, Mengli; Zhang, Yue; Yue, Xianqu; Lv, Dongyang; Chen, Mo; Wang, Xuhao; Zhang, Jun

doi:10.1177/0954406221990075

Cited by 5 publications

(3 citation statements)

References 35 publications

(29 reference statements)

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“…The parallel mechanism typically consists of a moving platform, a fixed base, and at least two branch chains. It belongs to a kind of mechanism with multi-chain closed loops [1,2]. Parallel mechanism has a wide development prospection because of its strong load ability, high stiffness, and excellent dynamic performance [3].…”

Section: Introductionmentioning

confidence: 99%

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

et al. 2023

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This paper focuses on the design, analysis, and multi-objective optimization of a novel 5-degrees of freedom (DOF) double-driven parallel mechanism. A novel 5-DOF parallel mechanism with two double-driven branch chains is proposed, which can serve as a machine tool. By installing two actuators on one branch chain, the proposed parallel mechanism can achieve 5-DOF of the moving platform with only three branch chains. Afterwards, analytical solution for inverse kinematics is derived. The 5 $\times$ 5 homogeneous Jacobian matrix is obtained by transforming actuator velocities into linear velocities at three points on the moving platform. Meanwhile, the workspace, dexterity, and volume are analyzed based on the kinematic model. Ultimately, a stage-by-stage Pareto optimization method is proposed to solve the multi-objective optimization problem of this parallel mechanism. The optimization results show that the workspace, compactness, and dexterity of this mechanism can be improved efficiently.

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Section: Introductionmentioning

confidence: 99%

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

et al. 2023

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“…The 5-degrees of freedom (DOF) parallel kinematic mechanisms (PKMs) are widely used in high-precision machining and manufacturing because of high stiffness and load-bearing capacity. 1,2 With the development of industrial level, the demand for high speed and high precision tasks for PKMs is continuously growing. The research of PKMs for high precision applications has become a hotspot.…”

Section: Introductionmentioning

confidence: 99%

Elastodynamic modeling and structural error compensation for a 5-DOF parallel mechanism with subclosed loops

Wang,

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In order to reduce the adverse effects of structural errors on a novel 5-degrees of freedom (DOF) parallel kinematic mechanism (PKM) with subclosed loops, studies on the elastodynamic modeling and structural error compensation are conducted in this paper. First, considering that introduction of subclosed loops significantly increased the complexity and difficulty of elastodynamic modeling, an equivalent unit modeling method for the branch chain with subclosed loop is proposed based on force analysis and deformation compatibility condition. Then, elastodynamic model of the whole 5-DOF PKM is established with the matrix structural analysis based method. Second, by defining a six-dimensional error (three translational errors and three rotational errors) for each node, structural error model of the PKM is constructed based on closed-loop vector method. To consider the coupling effects of static and dynamic structural errors, the dynamic structural errors derived by above elastodynamic model would be substituted into the structural error model along with given static structural errors. Finally, structural error compensation optimization model is established and structural errors are compensated by adjusting the driven parameters based on the improved particle swarm optimization (PSO) algorithm. Numerical simulations are conducted to verify the proposed elastodynamic modeling and structural error compensation methods. After compensation, the position errors along x, y, and z directions are respectively decreased by 68.036%, 81.409%, and 90.625%, and the angle errors around x and y directions are respectively decreased by 91.426% and 62.042%.

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“…When the structural parameters are unreasonably designed, the mechanism's performance will be significantly reduced. Therefore, researchers have also been working on the optimization design of the structure and performance of parallel mechanism, where the most commonly used optimization methods are divided into two categories: optimization methods based on objective functions and optimization methods based on performance atlas [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Optimization Design of 6-UPS Parallel Mechanism Based on Taguchi Method and Entropy-Weighted Gray Relational Analysis

et al. 2022

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Nowadays, parallel mechanisms are widely used in many fields because of their excellent structural performance. In order to improve the comprehensive performance of 6-UPS parallel mechanism, this article proposes a multi-objective optimization design method for parallel mechanism based on the Taguchi method and entropy-weighted gray relational analysis (EGRA) method. By establishing a parametric model of the 6-UPS parallel mechanism, taking the peak force on the drive pair of the drive branch chain of the mechanism, the minimum value of the projection angle of the body-fixed coordinate system (BCS) relative to the inertial coordinate system (ICS), and the minimum value of the average projected angle of the BCS relative to the ICS as the objective functions, the relationship between the design variables and the objective function is investigated under the condition that the constraints are satisfied. Using the optimization method proposed in this article, the multi-objective optimization problem is transformed into a single-objective optimization problem based on gray relational grade (GRG). Compared with the non-optimized 6-UPS parallel mechanism, the simulation results show that the peak force on the drive pair of the drive branch chain is reduced by 17.73%, and the minimum value of the projected angle and the minimum value of the average projected angle of the BCS relative to the ICS are increased by 27.36% and 36.17%, respectively, which effectively improves the load-bearing capacity and motion range of the 6-UPS parallel mechanism and verifies the reliability of the optimized design method.

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Optimal design of an asymmetrical parallel mechanism

Cited by 5 publications

References 35 publications

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

Elastodynamic modeling and structural error compensation for a 5-DOF parallel mechanism with subclosed loops

Multi-Objective Optimization Design of 6-UPS Parallel Mechanism Based on Taguchi Method and Entropy-Weighted Gray Relational Analysis

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