Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical Leg
A new kind of parallel bionic mechanical legs is put forward. The dimension synthesis and optimization about the mechanical leg structure is completed. The position vector model of the mechanical legs is established. The leg position inverse solution and velocity mapping equation are deduced,the vel...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.11.011 |
| _version_ | 1797819093789704192 |
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| author | Wang Xiaolei Jin Zhenlin Li Xiaodan Liu Xiang |
| author_facet | Wang Xiaolei Jin Zhenlin Li Xiaodan Liu Xiang |
| author_sort | Wang Xiaolei |
| collection | DOAJ |
| description | A new kind of parallel bionic mechanical legs is put forward. The dimension synthesis and optimization about the mechanical leg structure is completed. The position vector model of the mechanical legs is established. The leg position inverse solution and velocity mapping equation are deduced,the velocity Jacobian matrix is obtained. The space evaluation indexes and movement dexterity indexes of the mechanical leg are established. By using space model technology,the influence laws of the structure parameter on the working space evaluation indexes and motion dexterity indexes of the mechanical leg are analyzed. Combining with the technology of processing and assembling,the multiple target probability parameter optimization method based on performance map is applied to select a set of reasonable structural parameters,which lays a solid foundation for statics and dynamics analysis,stiffness analysis,trajectory planning and motion control of the bionic mechanical leg. |
| first_indexed | 2024-03-13T09:17:52Z |
| format | Article |
| id | doaj.art-17f8b9c5836b4f548354de9502854082 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:17:52Z |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-17f8b9c5836b4f548354de95028540822023-05-26T09:49:54ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142626629939337Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical LegWang XiaoleiJin ZhenlinLi XiaodanLiu XiangA new kind of parallel bionic mechanical legs is put forward. The dimension synthesis and optimization about the mechanical leg structure is completed. The position vector model of the mechanical legs is established. The leg position inverse solution and velocity mapping equation are deduced,the velocity Jacobian matrix is obtained. The space evaluation indexes and movement dexterity indexes of the mechanical leg are established. By using space model technology,the influence laws of the structure parameter on the working space evaluation indexes and motion dexterity indexes of the mechanical leg are analyzed. Combining with the technology of processing and assembling,the multiple target probability parameter optimization method based on performance map is applied to select a set of reasonable structural parameters,which lays a solid foundation for statics and dynamics analysis,stiffness analysis,trajectory planning and motion control of the bionic mechanical leg.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.11.011Parallel bionic mechanical leg;Dimensional analysis;Parameter optimization;Space model technology;Performance map |
| spellingShingle | Wang Xiaolei Jin Zhenlin Li Xiaodan Liu Xiang Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical Leg Jixie chuandong Parallel bionic mechanical leg;Dimensional analysis;Parameter optimization;Space model technology;Performance map |
| title | Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical Leg |
| title_full | Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical Leg |
| title_fullStr | Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical Leg |
| title_full_unstemmed | Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical Leg |
| title_short | Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical Leg |
| title_sort | dimensional analysis and optimization of 3 dof parallel bionic mechanical leg |
| topic | Parallel bionic mechanical leg;Dimensional analysis;Parameter optimization;Space model technology;Performance map |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.11.011 |
| work_keys_str_mv | AT wangxiaolei dimensionalanalysisandoptimizationof3dofparallelbionicmechanicalleg AT jinzhenlin dimensionalanalysisandoptimizationof3dofparallelbionicmechanicalleg AT lixiaodan dimensionalanalysisandoptimizationof3dofparallelbionicmechanicalleg AT liuxiang dimensionalanalysisandoptimizationof3dofparallelbionicmechanicalleg |