Configuration synthesis and screening method for multiple closed-loop unit tandem mechanisms

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-08-17 DOI:10.1016/j.mechmachtheory.2024.105770
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Abstract

To broaden the methods of configuration synthesis, this study proposes a new method for configuration synthesis and screening of multiple closed-loop unit tandem mechanisms. Firstly, some closed-loop configurations are taken as basic units, and the closed-loop basic units are synthesized in series under the condition of considering the basic unit types, contacts, and input and output relationships. Secondly, the connectivity of the mechanism is obtained by weighting the adjacency matrix, and the entropy weight method is used for the first time to establish a comprehensive evaluation index coefficient to assess the quality of the mechanism. Then, an improved simulated annealing-greedy algorithm is proposed and an algorithm software screening platform is built to screen mechanisms. Finally, the multi-fingered grasper is used as design case to verify the practicality of the proposed configuration synthesis and screening method. This study can provide a reference for theoretical research on the configuration synthesis and screening methods of multiple closed-loop unit tandem mechanisms.

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多闭环单元串联机构的配置合成和筛选方法
为了拓宽构型合成方法,本研究提出了一种新的多闭环单元串联机构构型合成与筛选方法。首先,将一些闭环构型作为基本单元,在考虑基本单元类型、触点和输入输出关系的条件下,对闭环基本单元进行串联合成。其次,通过对邻接矩阵加权得到机构的连通性,并首次采用熵权法建立了机构质量的综合评价指标系数。然后,提出了一种改进的模拟退火-贪心算法,并构建了一个算法软件筛选平台来筛选机构。最后,以多指抓手为设计案例,验证了所提出的构型合成和筛选方法的实用性。本研究可为多闭环单元串联机构配置合成与筛选方法的理论研究提供参考。
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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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