Stiffness Analysis And Optimization Of4TPS-PS Parallel Mechanism

Parallel mechanism with a simple structure, high load capacity, easy to control,etc., is a new trend in research at home and abroad. In recent years, the study of asmall proportion of DOF parallel mechanism becomes more and more, because it isapplied widely in industry and other fields and has a promising prospects. The rigidityand optimization also occupy an important position in parallel mechanism. Oncemainly the stiffness of parallel mechanisms fails to get the required standard, it cannot guarantee the accuracy, even can make a big distortion and paralyze. In this paper,4TPS-PS parallel mechanism will be studied, conducted stiffness performanceanalysis and optimization studies. Include the following aspects:(1) Around4TPS-PS parallel mechanism to build institutional model, thekinematic model, the location inverse conducted using the derivation method to buildJacobi matrix analysis of the bodies of the rod, and a kinematic indicators workspaceto be solved.(2) The Jacobi matrix will be obtained through kinematics of the mechanism tobuild stiffness model, in the meantime, stiffness matrix will be given to study theimpact of structural parameters and pose parameters on stiffness, find out the law.Also dexterity of parallel mechanism will be studied, indicating good dexterity andmaking a good foundation for the multi-objective optimization.(3) In-scale optimization, the stiffness and dexterity will be the object ofoptimization, based on genetic programming algorithm, three parameters will beoptimized as variables, and institutions before and after optimization will becompared. the correctness of optimization will be proved.(4) Using the finite element software for rapid modeling, comparing finiteelement model before and after optimization through static analysis, then in the samesize institution; comparing the initial state and working state of finite element modelthrough static analysis, in the end, the conclusion will be obtained from analysis andcorrectness of finite element analysis will be verified..In this paper,4TPS-PS parallel mechanism is the object of study with a series ofstudies, which has a certain reference value for the future development of suchmechanism, in applications of less degrees of freedom organization, it also has a vital practical significance.