Performance analysis and optimization of a rigid-flexible parallel manipulator-Reference-Cited by-同舟云学术

Performance analysis and optimization of a rigid-flexible parallel manipulator

Published:2020-05-28 Issue:23 Volume:234 Page:4620-4635
ISSN:0954-4062
Container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Author:

Cui Guohua¹²,Liu Jian³^ORCID,Hu Zhi¹^ORCID,Zhang Yanwei¹,Hou Hongjuan²

Affiliation:

1. Intelligent Robot Research and Development Center, Shanghai University of Engineering Science, Shanghai, China

2. School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, China

3. Academy for Engineering and Technology, Fudan University, Shanghai, China

Abstract

In order to meet the design requirements of friction stir welding equipment, a three-degree-of-freedom rigid-flexible 3UPS-UP-3Cable-Driven (3UPS-UP-3CD) parallel manipulator was applied to the main feed mechanism of the friction stir welding robot. The kinematics analysis of the new parallel manipulator was carried out, and the complete homogeneous dimensional Jacobian matrix of the 3UPS-UP-3CD manipulator was solved. Through kinematic performance analysis, the carrying capacity, dexterity and stiffness of 3UPS-UP-3CD manipulator are obviously better than 3UPS-UP mechanism, and the impact of cables on the workspace can also be eliminated by adjusting the dimension parameter. The composite quality workspace map of the manipulator was drawn, and the composite kinematic performance index was proposed. Multiobjective optimization was completed for 3UPS-UP-3CD manipulator, and its performance was improved. The dynamic analysis of the manipulator was carried out, and the driving forces of two mechanisms were calculated under two trajectories. The results showed that the maximum driving force of 3UPS-UP-3CD manipulator was lower than 3UPS-UP mechanism, which proved that 3UPS-UP-3CD manipulator was more suitable for heavy-duty conditions.

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/0954406220928379

Reference19 articles.

1. Friction stir welding of high-strength aerospace aluminum alloy and application in rocket tank manufacturing

2. A hybrid robot for friction stir welding

3. Machines and control systems for friction stir welding: A review

4. Friction Stir welding of Light Metals for Industrial Applications

5. Optimal design of 3-DOF PKM module for friction stir welding

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