Design and position analysis of 2PUU-2PSS parallel mechanism for auxiliary assembly in DEMO vacuum vessel
文献类型：期刊论文
| 作者 | Wen, Shikun1; Wu, Shutao1; Qi, Qian1; Wu, Huapeng2; Yang, Yang3; Cheng, Yong3 ; Ji, Aihong1,4,5
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| 刊名 | FUSION ENGINEERING AND DESIGN
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| 出版日期 | 2024-10-01 |
| 卷号 | 207 |
| 关键词 | 2PUU-2PSS parallel mechanism Screw theory Position analysis Differential evolution |
| ISSN号 | 0920-3796 |
| DOI | 10.1016/j.fusengdes.2024.114645 |
| 通讯作者 | Ji, Aihong(meeahji@nuaa.edu.cn) |
| 英文摘要 | This study proposes a 2PUU-2PSS parallel mechanism (PM) designed to meet the high-precision assembly requirements of the DEMO vacuum vessel. The mechanism, featuring four degrees of freedom (3T1R), is capable of moving to the working area with the assistance of a conveying device to perform high-precision cutting and welding operations on the inner walls of the vacuum vessel. Firstly, the number and characteristics of the mechanism's degrees of freedom are analyzed based on screw theory, where the correctness of the design is verified. Secondly, with the constraint of the mechanism's rod length, the forward and inverse kinematics equations are established. The forward kinematics equations are then transformed into unconstrained optimization equations, and a differential evolution algorithm is employed for solving. Furthermore, to enhance the optimization efficiency and robustness of the differential evolution algorithm, a mean-based dual mutation strategy and an individual selection strategy are proposed and integrated into the traditional differential evolution algorithm, forming a Mean-based Dual Mutation Differential Evolution (MDDE) algorithm with strong global search capabilities and convergence rates. To assess the performance of the MDDE algorithm, numerical experiments are conducted using two CEC Benchmarks functions and two mechanical examples. The experimental results demonstrate that the MDDE algorithm consistently outperforms the compared algorithms. Finally, numerical examples are provided to demonstrate the application of the MDDE algorithm in obtaining the forward kinematics solution, including the single-point position and orientation and continuous trajectory, for the 2PUU2PSS PM, where the correctness of the forward kinematics solution is verified through the application of the inverse kinematics. |
| WOS关键词 | ALGORITHM ; ROBOT |
| 资助项目 | National Natural Science Foundation of China[52075248] ; National Natural Science Foundation of China[52205018] ; Fundamental Research Funds for the Central Universities[NP2024302] ; Postgraduate Research & Practice Innovation Program of Jiangsu Province[KYCX23_0359] ; Special Funds for Science and Technology Programs in Jiangsu Province[SBZ2024000433] |
| WOS研究方向 | Nuclear Science & Technology |
| 语种 | 英语 |
| WOS记录号 | WOS:001308360700001 |
| 出版者 | ELSEVIER SCIENCE SA |
| 资助机构 | National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities ; Postgraduate Research & Practice Innovation Program of Jiangsu Province ; Special Funds for Science and Technology Programs in Jiangsu Province |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/135067]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Ji, Aihong |
| 作者单位 | 1.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Lab Locomot Bioinspirat & Intelligent Robots, 29 Yudao St, Nanjing 210016, Peoples R China 2.Lappeenranta Lahti Univ Technol, Sch Energy Syst, Lab Intelligent Machines, Lappeenranta 53850, Finland 3.Chinese Acad Sci, Inst Plasma Phys, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 4.Nanjing Univ Aeronaut & Astronaut, State Key Lab Mech & Control Aerosp Struct, 29 Yudao St, Nanjing 210016, Peoples R China 5.Jiangsu Key Lab Bion Mat & Equipment, Nanjing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wen, Shikun,Wu, Shutao,Qi, Qian,et al. Design and position analysis of 2PUU-2PSS parallel mechanism for auxiliary assembly in DEMO vacuum vessel[J]. FUSION ENGINEERING AND DESIGN,2024,207. |
| APA | Wen, Shikun.,Wu, Shutao.,Qi, Qian.,Wu, Huapeng.,Yang, Yang.,...&Ji, Aihong.(2024).Design and position analysis of 2PUU-2PSS parallel mechanism for auxiliary assembly in DEMO vacuum vessel.FUSION ENGINEERING AND DESIGN,207. |
| MLA | Wen, Shikun,et al."Design and position analysis of 2PUU-2PSS parallel mechanism for auxiliary assembly in DEMO vacuum vessel".FUSION ENGINEERING AND DESIGN 207(2024). |
入库方式： OAI收割
来源：合肥物质科学研究院
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