http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Erwei Li (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Singularity analysis and workspace optimization of a novel symmetrical 4-limb 5-DOF hybrid robot
Xin Tian,Tieshi Zhao,XiaoXiao Peng,Erwei Li 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.5
Considering the complex structure and large size of multiple axes rotary spindle heads and the small workspace of parallel modules, a 5-degree of freedom (DOF) hybrid robot is proposed, which is a symmetrical 4-limb parallel module in series with a single axis rotary spindle head. Screw theory was used to analyze the mobility and kinematics of the hybrid mechanism. The singularity of the symmetrical 4-limb parallel module was studied, and the analysis results were verified by the Grassmann linear geometry principle. According to the singularity analysis results, the kinematic pairs’ positions of the robot were determined, so the hybrid robot model was constructed. Considering the workspace volume, and optimizing the Latin hypercube sample algorithm, a combinatorial numerical optimization algorithm is proposed to optimize dimension parameters of this hybrid robot, which combines non-linear programming by quadratic Lagrangian (NLPQL) algorithm with the optimized Latin hypercube sampling (Opt LHS) algorithm. Through this optimization algorithm, the workspace volume of the robot is increased by 1.93 times. The research method in this paper is also suitable for the analysis and optimization of other hybrid robots.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
