Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom

Sustainability

Zhen Gao¹ 

[1] Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa ON L1H 7K4, Canada; E-Mail

关键词: parallel mechanism;    kinematic model;    workspace;    particle swarm algorithm;   

DOI  :  10.3390/su3112217

来源: mdpi

【 摘 要 】

The development of a new parallel mechanism based on simulation driven design is a rapid approach to discover the unique features or advantages of a conceptual model. In this research, one novel parallel mechanism which can generate three degrees-of-freedom translations is proposed. The kinematic model and Jacobian matrix is derived. The workspace generation and mapping is investigated based on simplified boundary searching method. The particle swarm algorithm is applied to search for the optimal volume of workspace.

【 授权许可】

CC BY   
© 2011 by the authors; licensee MDPI, Basel, Switzerland.