The orbit optimization synthesis of adjustable spherical four-bar mechanism

Xin Zhao

doi:10.1117/12.2652851

10 November 2022 The orbit optimization synthesis of adjustable spherical four-bar mechanism

Xin Zhao

Proceedings Volume 12331, International Conference on Mechanisms and Robotics (ICMAR 2022); 123312A (2022) https://doi.org/10.1117/12.2652851
Event: International Conference on Mechanisms and Robotics (ICMAR 2022), 2022, Zhuhai, China

Abstract

Spherical mechanism has simple structure and reliable control. Aiming at the problem of insufficient workspace of spherical mechanism, an adjustable spherical four-bar mechanism is proposed to meet the requirements of different working environments and expand the workspace range of actuators, and its multi-task trajectory is optimized and synthesized by improved genetic algorithm. Based on the minimum position error between the actual trajectory and the given trajectory, the objective function is established, and the multi-task optimization model of the adjustable spherical mechanism is established. The global search ability and numerical analysis ability of genetic algorithm are used to optimize the operation, and the global optimal solution is obtained. In order to improve the local search ability of genetic algorithm, the constraint conditions are gradually strengthened in the algorithm, and the mutation operator is used in the mutation operation, which can effectively prevent the premature phenomenon of the population and maintain the diversity of the population. Finally, it is concluded through an example that the adjustable spherical mechanism can effectively increase the workspace of the mechanism and complete the given multi-task well; The analysis results also show the effectiveness and feasibility of the analysis method.

Citation Download Citation

Xin Zhao "The orbit optimization synthesis of adjustable spherical four-bar mechanism", Proc. SPIE 12331, International Conference on Mechanisms and Robotics (ICMAR 2022), 123312A (10 November 2022); https://doi.org/10.1117/12.2652851

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