Jixie chuandong (Apr 2023)
Balance Design and Optimization of Swing Force of the New Spatial 1T1R Parallel Mechanism
Abstract
The finite position method is applied to the complete balance design and partial balance optimization of swing force of a new spatial 1T1R parallel mechanism. Firstly, according to the topology design theory of parallel mechanism, a new type of translation rotation (1T1R) parallel mechanism is designed, and the topology and position analysis are carried out. Secondly, divide the tree, determine the connecting branch component, and finally calculate the total mass moment of the mechanism by obtaining the mass moment of the two sub kinematic chains (SKC) contained in the mechanism. Then, according to the mass moment balance condition, the complete balance equations of pendulum force are derived, the counterweight parameters of each branch member are obtained, and the complete balance effect is verified. Finally, considering the practical principle, further study the balance optimization of the pendulum force part, and use the genetic algorithm to obtain the optimal counterweight mass and counterweight position, and compare the balance before and after. The calculation shows that the fluctuation of the center of mass trajectory of the mechanism in the X, Y and Z directions is reduced by 55.38%, 26.17% and 86.29% respectively, and the fluctuation of the pendulum force in the X, Y and Z directions is reduced by 58.39%, 67.11% and 39.19% respectively.
