| Citation: | YANG Hui, FANG Hairong, LI Dian, et al. Kinematics analysis and multi-objective optimization of a novel parallel perfusion robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(3): 568-575. doi: 10.13700/j.bh.1001-5965.2017.0157(in Chinese)
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In order to meet the demand of honeycomb structure perfusion of large spacecraft, a novel hybrid perfusion robot is proposed. This article mainly focuses on the analysis of the parallel mechanism. First, the kinematics analysis of 3PSS-PU parallel mechanism is conducted, and the inverse kinematic model and Jacobian matrix of 3PSS-PU mechanism are established. Then, the constraints of the main factors influencing workspace of the mechanism are given, and the reachable workspace is obtained. Next, stiffness model of the mechanism is established, and stiffness distribution of the mechanism in the process of movement is displayed. Finally, aimed at workspace volume and global stiffness, multi-objective optimization analysis of structure parameters is performed based on genetic algorithm, and final dimension parameters of the mechanism are obtained. This work would lay the foundation for the application of the honeycomb perfusion robot.
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