Study On The Techniques Of Optimization Design Of Delta Parallel Mechanism

The Parallel Mechanism is composed by a fixed platform, a motion platform and two or more than two kinematic chains which connect the fixed platform and the motion platform. The way of drive is parallel, and it is a closed loop bodies, which has two or more degrees of freedom. Its structure is stabile, its load bearing capacity is strong, its stiffness is large, moreover, there is no cumulative amplification effect, and it has a high precision of movement.With the increasingly in-depth study of parallel mechanism, some new types of Parallel Mechanism appeared. Delta Parallel Mechanism was invented in1986, and quickly achieved success in the industrial field. At present, foreign industry in the field of Parallel Mechanism has been made a breakthrough and created a huge economic benefits. But in our country, due to the late start, the relevant theory and key technology research lagged, the application of the Parallel Mechanism is not ideal.This paper is based on the research of Delta parallel mechanism. We conduct in-depth research of its optimization design of geometry parameter, a comprehensive analysis and optimization design in the indicator of workspace, kinematics dexterity index, stiffness, kinetic performance. In order to solve these problems, we use the method of multi-objective optimization. The detail contents are as following:(1) Geometric, kinematics and dynamic modeling of the chosen structure.(2) Evaluation of the criteria of performance. They are:workspace, stiffness, kinematics and dynamic performances.(3) In order to optimal the parameters due to the different performance index, we find a practical solution.(4) The dimensional synthesis remains a capital phase in the optimal design of the Delta parallel mechanism. We propose a methodology of the dimensional synthesis where the problem is expressed in terms of multi-objective optimization by taking account simultaneously several criteria of performance. We use the concept of multi-objective optimization, and we use the Genetic Algorithm for the problem resolution...