The development of new robot structures, in particular of parallel kinematic machines（PKM）, is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than...The development of new robot structures, in particular of parallel kinematic machines（PKM）, is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than six degrees of freedom（DOF）. However, an overall comparison and evaluation of these structures is missing. In order to compare symmetrical PKM with three translational DOF, different evaluation criteria are used. Workspace, maximum actuation forces and velocities, power, actuator stiffness, accuracy and transmission behavior are taken into account to investigate strengths and weaknesses of the PKMs. A selection scheme based on possible configurations of translational PKM including different frame configurations is presented. Moreover, an optimization method based on a genetic algorithm is described to determine the geometric parameters of the selected PKM for an exemplary load case and a prescribed workspace. The values of the mentioned criteria are determined for all considered PKM with respect to certain boundary conditions. The distribution and spreading of these values within the prescribed workspace is presented by using box plots for each criterion. Thereby, the performance characteristics of the different structures can be compared directly. The results show that there is no ＂best＂ PKM. Further inquiries such as dynamic or stiffness analysis are necessary to extend the comparison and to finally select a PKM.展开更多
China's road network consists of numerous older expressways experiencing high traffic volumes and severe congestion,necessitating urgent reconstruction and expansion efforts.This study discusses the reconstruction...China's road network consists of numerous older expressways experiencing high traffic volumes and severe congestion,necessitating urgent reconstruction and expansion efforts.This study discusses the reconstruction and expansion project of the Yinkun Expressway's Chongqing High-tech Zone to Rongchang District section,with a detailed exploration of the entire design process.Through a comprehensive analysis,the strengths and weaknesses of different plans are examined,so as to determine the optimal plan.The design chosen saves costs while effectively addressing traffic demands.Additionally,the study summarizes the valuable design insights gained from this interchange transformation,aiming to provide valuable reference for similar interchange projects in the future.展开更多
Selecting the optimal one from similar schemes is a paramount work in equipment design.In consideration of similarity of schemes and repetition of characteristic indices,the theory of set pair analysis(SPA)is proposed...Selecting the optimal one from similar schemes is a paramount work in equipment design.In consideration of similarity of schemes and repetition of characteristic indices,the theory of set pair analysis(SPA)is proposed,and then an optimal selection model is established.In order to improve the accuracy and flexibility,the model is modified by the contribution degree.At last,this model has been validated by an example,and the result demonstrates the method is feasible and valuable for practical usage.展开更多
Firstly data standardization technology and combined classification method have been applied to carry out classification of kinematic behaviors and mechanisms in the mapping field between the kinematic behavior level ...Firstly data standardization technology and combined classification method have been applied to carry out classification of kinematic behaviors and mechanisms in the mapping field between the kinematic behavior level and the mechanism level of conceptual design.The principle of computer coding and storing have been built to give a fast and broad selection of mechanisms that meets the requirements of basic motion characters.Then on the basis of mentioned above,the heuristic matching propagation principle (HMPP) of kinematic behaviors and its true table serves as a guide to perform mechanism types selection.Finally an application is given to indicate its practicability and effectiveness.展开更多
文摘The development of new robot structures, in particular of parallel kinematic machines（PKM）, is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than six degrees of freedom（DOF）. However, an overall comparison and evaluation of these structures is missing. In order to compare symmetrical PKM with three translational DOF, different evaluation criteria are used. Workspace, maximum actuation forces and velocities, power, actuator stiffness, accuracy and transmission behavior are taken into account to investigate strengths and weaknesses of the PKMs. A selection scheme based on possible configurations of translational PKM including different frame configurations is presented. Moreover, an optimization method based on a genetic algorithm is described to determine the geometric parameters of the selected PKM for an exemplary load case and a prescribed workspace. The values of the mentioned criteria are determined for all considered PKM with respect to certain boundary conditions. The distribution and spreading of these values within the prescribed workspace is presented by using box plots for each criterion. Thereby, the performance characteristics of the different structures can be compared directly. The results show that there is no ＂best＂ PKM. Further inquiries such as dynamic or stiffness analysis are necessary to extend the comparison and to finally select a PKM.
文摘China's road network consists of numerous older expressways experiencing high traffic volumes and severe congestion,necessitating urgent reconstruction and expansion efforts.This study discusses the reconstruction and expansion project of the Yinkun Expressway's Chongqing High-tech Zone to Rongchang District section,with a detailed exploration of the entire design process.Through a comprehensive analysis,the strengths and weaknesses of different plans are examined,so as to determine the optimal plan.The design chosen saves costs while effectively addressing traffic demands.Additionally,the study summarizes the valuable design insights gained from this interchange transformation,aiming to provide valuable reference for similar interchange projects in the future.
文摘Selecting the optimal one from similar schemes is a paramount work in equipment design.In consideration of similarity of schemes and repetition of characteristic indices,the theory of set pair analysis(SPA)is proposed,and then an optimal selection model is established.In order to improve the accuracy and flexibility,the model is modified by the contribution degree.At last,this model has been validated by an example,and the result demonstrates the method is feasible and valuable for practical usage.
基金Sponsored by the Chinese National Foundation of Science Na 59875058.
文摘Firstly data standardization technology and combined classification method have been applied to carry out classification of kinematic behaviors and mechanisms in the mapping field between the kinematic behavior level and the mechanism level of conceptual design.The principle of computer coding and storing have been built to give a fast and broad selection of mechanisms that meets the requirements of basic motion characters.Then on the basis of mentioned above,the heuristic matching propagation principle (HMPP) of kinematic behaviors and its true table serves as a guide to perform mechanism types selection.Finally an application is given to indicate its practicability and effectiveness.
