Integrated Dimension Optimization Of Parallel Mechanism With Specified Task Space

Parallel mechanisms are widely used in industry productions such as electronics,foods,medicines,due to the advantage of high stiffness,precision and speed Based on the parallel mechanism of the specified task space,this paper associates the dimensional parameters with the task space,establishes a general evaluation system for motion/force transfer performance and a complete set of research ideas of new global indicators,which not only helps avoid some repetitive work in the field,but also provides a dimensional reference for the design of parallel mechanism in the background of practical engineering applications.The main contents are as follows:(1)A multi-objective scale parameter optimization method for parallel mechanism with specified task space is proposed.Firstly,the dimensional parameters of the mechanism are associated with the specified task space,and a new normalized parameter design space is constructed.Secondly,performance indicators are proposed to evaluate the performance of parallel mechanism in the specified task space,and multi-objective optimization results can be found in the design space of different parallel mechanism geometric constraints.Finally,the general process of multi-objective optimization dimensional parameter optimization is established.(2)Taking the Delta parallel mechanism with three translations as an example,based on the multi-objective optimization method of the dimensional parameters of the parallel mechanism with the specified task space,and comprehensively considering the size,shape and other constraints of the mechanism in practical engineering applications,the new performance evaluation is applied to the optimal design of the mechanism,and the optimal parameters are obtained.Compared with the traditional optimization method of specifying the spatial scale parameter optimization method of the optimal parameters,the results show that the kinematic/force transfer performance of the mechanism is better after optimization,which confirms the effectiveness of the proposed method.(3)Based on the multi-objective optimization method of scale parameters of the task space of Delta parallel mechanism,the particle swarm intelligent algorithm is used as an optimization tool to carry out multi-objective optimization design considering scale parameters.The optimal dimensional parameters of the Delta parallel mechanism based on particle swarm algorithm are analyzed,the optimal scale parameters obtained by the search method are compared to verify the effectiveness of the algorithm.(4)Take the 2-R(Ps)&1-P(Ps)parallel mechanism with two turns and one shift as the driving pair as an example.The whole set of research ideas for the parallel mechanism of the designated task space embodied in this paper is reviewed and verified.Aiming at the2-R(Ps)&1-P(Ps)parallel mechanism,a normalized parameter space is constructed,and the optimal parameters are solved in the constrained design space through new performance indicators.