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Dimensional synthesis of motion generation of a spatial RCCC mechanism
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Dimensional synthesis of motion generation of a spatial RCCC mechanism
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Journal Article
Dimensional synthesis of motion generation of a spatial RCCC mechanism
2024
Overview
A dimensional synthesis method for a spatial RCCC rigid-body guidance mechanism that satisfies non-periodic design requirements is proposed. By solving the 21-dimensional spatial RCCC mechanism motion generation problem in five steps, the dimension of the numerical atlas database is effectively reduced. The installation angle parameters, link twists, link lengths and link offset are matched using the established numerical atlas database. The mechanism geometric parameters obtained from the database are then optimized using a genetic algorithm. On this basis, the equations for calculating the actual sizes and installation position parameters of the objective mechanism are established; thus, the spatial RCCC mechanism motion generation with non-periodic design requirements is realized. Since there are fewer independent variables in each step of the proposed reduced dimensional synthesis method, the computational burden is smaller than existing numerical atlas method. Avoiding the solution of complex nonlinear equations, the method is therefore not limited by the number of prescribed positions compared with the analytical method. Moreover, since the problem of synchronous optimization of input angles and geometric parameters is avoided, the efficiency is far higher than optimization method. Two examples are presented to demonstrate the efficacy and accuracy of the proposed theory.
Publisher
Springer Berlin Heidelberg,Springer Nature B.V
