ISSN:
1013-9826
Source:
Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
The target movement range of planar five-bar parallel robot is decided by the length ofeach bar and swinging angle. In general designs are bound by the single-objective optimization.Scope of the overall movement is considered as the goal of optimization. Although this method mayseek all the possible movement scope completely, but has actually neglected the restraint ofmechanical hinge structure. To determine the length in this way there are interference and stuckphenomenon. To address this issue in this paper the bounds of mechanical structure are added in. Anew set of optimization algorithms is established. Analytical method is used to establish thealgorithm of planar five-bar parallel robot’s positive solution. Then MATLAB is used to obtain thepositive solutions of target movement range. Generally under unconstrained circumstances, we foundthat there are two positive solutions and mutual symmetry on the x-axis. After adding in therestriction of swinging angle, we succeed in finding the optimal solutions. Finally we use an exampleto explain how it works. MATLAB is used to determine the length of each bar and found a 200 x 150mm of the target movement range. Through the diagram has been plotted by MATLAB, we find thatthe second solution is the optimal solution. This method can be used to optimize the length of planarfive-bar parallel robot
Type of Medium:
Electronic Resource
URL:
http://www.tib-hannover.de/fulltexts/2011/0528/01/57/transtech_doi~10.4028%252Fwww.scientific.net%252FKEM.392-394.996.pdf
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