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Performance analysis and multiobjective structural optimization of 4RRR pure rotation parallel mechanism

Published online by Cambridge University Press:  28 March 2025

Yufan He Open the ORCID record for Yufan He [Opens in a new window] ,
Hairang Fang Open the ORCID record for Hairang Fang [Opens in a new window] ,
Haoqian Wang  and
Zhengxian Jin
Yufan He
Affiliation:
Robotics Research Center, Beijing Jiaotong University, Beijing, PR China
Hairang Fang*
Affiliation:
Robotics Research Center, Beijing Jiaotong University, Beijing, PR China
Haoqian Wang
Affiliation:
Robotics Research Center, Beijing Jiaotong University, Beijing, PR China
Zhengxian Jin
Affiliation:
Robotics Research Center, Beijing Jiaotong University, Beijing, PR China
*
Corresponding author: Hairang Fang; Email: [email protected]
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Abstract

In this article, the performance analysis and multiobjective structure optimization of 4RRR parallel mechanism are carried out. Firstly, the 4RRR pure rotation parallel mechanism and its design route are introduced. Secondly, the Jacobian matrices in 2DoF pure rotation and 3DoF pure rotation modes are derived using the motion equations of the mechanism. Next, the singularity analysis, kinematic dexterity analysis, dynamic dexterity analysis, and stiffness analysis of the mechanism are carried out, respectively, and it is proved that there is no singularity in the mechanism in its workspace. Since the dexterity performance expression is a nonlinear piecewise function, the kinematic local comprehensive dexterity index and the dynamic local comprehensive dexterity index are proposed as the objects of analysis. Furthermore, the kinematic global comprehensive dexterity index, the dynamic global comprehensive dexterity index, and the global comprehensive stiffness index are proposed to carry out the multiobjective structural optimization. Finally, NSGA3 was used to complete the optimization, and the comprehensive optimal solution of the structure size was obtained.

Keywords

parallel mechanismkinematics analysissingularity analysisdexterity analysisstiffness analysismultiobjective optimization
Type
Research Article
Information
Robotica , First View , pp. 1 - 23
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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