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Zhang Chunyan, Xie Mingjuan, Lu Chenhui. Kinematics and Multi-objective Optimization of 4-URPU Multiple Locomotion Modes Mobile Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering. doi: 10.13433/j.cnki.1003-8728.20190255
Citation: Zhang Chunyan, Xie Mingjuan, Lu Chenhui. Kinematics and Multi-objective Optimization of 4-URPU Multiple Locomotion Modes Mobile Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering. doi: 10.13433/j.cnki.1003-8728.20190255

Kinematics and Multi-objective Optimization of 4-URPU Multiple Locomotion Modes Mobile Parallel Mechanism

doi: 10.13433/j.cnki.1003-8728.20190255
  • Received Date: 2019-01-29
    Available Online: 2020-12-29
  • To adapt to the multi-terrain environment, a 4-URPU multiple locomotion modes mobile parallel mechanism is proposed, which integrates three motion modes of quadruped walking, creeping and rolling. The kinematic feasibility of the mechanism in each mode is analyzed by the screw theory. The position solution and velocity Jacobian matrix of the mechanism in each mode are solved, and a multi-objective optimization model is established to obtain a set of relative optimal solutions. The results show that the maximum speed performance index in walking process is lower than that in rolling process, and there are different optimal solutions for different working environments. Finally, a prototype test is carried out to verify the theoretical correctness and kinematic feasibility of the mechanism. The proposed mechanism can be applied to geographic environments with multiple topographic features such as nuclear power accidents, field and natural disasters, and has a certain application prospect.
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