Abstract
The multi-objective parameters for optimizing the performance of the 3UPS/S parallel mechanism were optimized using the principal component analysis method and space models. This approach comprehensively considered the multi-objective performance of the parallel mechanism. Firstly, the structural characteristics of the mechanism were analyzed, the global kinematic performance index and global static performance index of the mechanism were defined. Then, the influence of the main size parameters of the mechanism on various global performance indicators was analyzed using spatial model technology. The multi-objective parameters of the mechanism were optimized using the principal component analysis method. The comparison of multiple sets of size parameters showed that a higher integrated performance index value corresponds to better global performance, thus verifying the feasibility and correctness of the method. This optimization method provides a new approach for multi-objective parameter optimization of parallel mechanisms.
This work was supported by the National Natural Science Foundation of China (Grant No. U21A20122, 52105037, 51975523).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Hou, Y., Hu, X., Zeng, D., et al.: Biomimetic shoulder complex based on 3-PSS/S spherical parallel mechanism. Chinese J. Mech. Eng. 28(1), 29–37 (2015)
Li, Y., Jin, Z., Ji, S., et al.: Design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators. J. Mech. Sci. Technol. 27(1), 103–112 (2013)
Li, Y., Tan, D., Wen, D., et al.: Parameters optimization of a novel 5-DOF gasbag polishing machine tool. Chinese J. Mech. Eng. 26(4), 680–688 (2013)
Xu, C.: Structure Design and Application of Small 6-DOF Parallel Robot. Beijing University of Posts and Telecommunications, Beijing (2019). (in Chinese)
Zhang, C., Li, B., Zhao, X.: Kinematics and working performance analysis of a 3-DOF parallel mechanism. Manuf. Autom. 9, 54–58 (2017). (in Chinese)
Ba, S., Xu, Y., Liu, Y., et al.: Kinematics analysis and simulation of a new 3UPU-PP hybrid mechanism. J. Shanghai Univ. Eng. Sci. 33(2), 13 (2019). (in Chinese)
Zhu, W., Ma, Z., Shen, H., et al.: Kinematics and optimum design of a new SCARA parallel mechanism. Mach. Des. Res. 35(3), 16 (2019). (in Chinese)
Li, H., Zhang, Y., Wang, D.: Comparative analysis of optimization algorithms in workspace optimization of parallel mechanisms. J. Mech. Eng. 46(13), 61–67 (2010). (in Chinese)
Zhao, Q.: High Precision Control of High-Speed Parallel Manipulators. Tianjin University, Tianjin (2017). (in Chinese)
Che, L., Cheng, Z., He, B.: 4-PRUR parallel mechanism and its displacement analysis based on differential evolution algorithm. J. Mech. Eng. 46(23), 36–44 (2010). (in Chinese)
Kuroda, M., Mori, Y., Iizuka, M., et al.: Acceleration of the alternating least squares algorithm for principal components analysis. Comput. Stat. Data Anal. 55(1), 143–153 (2011)
Wang, J., Xu, Y., Cao, B., et al.: Ultrasonic face recognition algorithm based on principal component analysis. Computer Eng. Des. 34(8), 2867–2871 (2013)
Huang, Z., Tao, W.S., Fang, Y.F.: Study on the kinematic characteristics of 3 DOF in-parallel actuated platform mechanisms. Mech. Mach. Theory 31(8), 999–1007 (1996)
Huang, Z., Zhao, Y., Zhao, T.: Advanced Spatial Mechanism. China Higher Education Press, Beijing (2006). (in Chinese)
Masory, O., Wang, J, Zhuang, H.: On the accuracy of a Stewart platform. II. Kinematic calibration and compensation. In: IEEE International Conference on Robotics and Automation, pp. 725–731. Proceedings. IEEE, Atlanta (1993)
Wang, D.: Type Synthesis and Performance Analysis of Parallel Mechanism. Yanshan University, Qinhuangdao (2001)
Chambers, W., Mikula, A.: Operational data for a large vertical thrust bearing in a pumped storage application. Trans. Soc, Tribol. Lubricat. Eng. 31(1), 61–65 (1988). (in Chinese)
Zhang, B., Wang, L., Wu, J.: Dynamic isotropic performance evaluation of a 3-DOF parallel manipulator. J. Tsinghua Univ. (Sci. Technol.) 57(8), 803–809 (2017). (in Chinese)
Yang, J., Yu, Y., Du, Z.: Dynamic modeling method of parallel robot with hybrid chains. Chin. J. Mech. Eng. 45(1), 77–82 (2009). (in Chinese)
Zhang, X.: Study of torque isotropy of force sensor based on Stewart structure. Mach. Des. Res. 20(2), 20–22 (2004). (in Chinese)
Gao, F., Liu, X.J., Chen, X.: The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators. Mech. Mach. Theory 36(2), 205–220 (2001). (in Chinese)
Liang, S., Zhang, Z., Cui, L.: Comparison between PCA and KPCA method in dimensional reduction of mechanical noise data. China Mech. Eng. 22(1), 80–83 (2011). (in Chinese)
Zeng, D., Wang, J., Fan, M., et al.: Parameter optimization of parallel mechanisms based on PCA. China Mech. Eng. 28(24), 2899–2905 (2017). (in Chinese)
Wang, W., Chen, X.: Comparison of principal component analysis with factor analysis in comprehensive multi-indicators scoring. Stat. Inform. Forum. 21(5), 19–22 (2006). (in Chinese)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Sun, P., Gao, Y., Wu, C., Feng, S., Gu, Y., Li, Y. (2023). Optimum Design of 3-UPS/S Parallel Mechanism. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14275. Springer, Singapore. https://doi.org/10.1007/978-981-99-6504-5_4
Download citation
DOI: https://doi.org/10.1007/978-981-99-6504-5_4
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6503-8
Online ISBN: 978-981-99-6504-5
eBook Packages: Computer ScienceComputer Science (R0)