Abstract
The double-tripod multi-loop mechanism (DTMLM) is expected to construct modular system for space applications, such as space capturing, thus requiring good performance, including good dynamics characteristics, kinematics features, and high actuation-transmission efficiency. This paper proposes local and global performance indicators in terms of kinematics and dynamics, by means of concept of the output-array ellipsoid. Then, the kinematics-and dynamics- performance drawings are plotted and then employed to indicate the relationship between the indicators and rod parameters. A multi-objective-optimization procedure is represented to calculate the weight coefficient of the indicators. The diagram of comprehensive evaluation indicators is henceforth plotted. Due to the optimization, \(r=3d_0\) is better for the DTMLM structures in space applications, which provides strong support in further structure-design process.
Supported by The Youth Fund of PLA Rocket Force University of Engineering (2021QN-B023) and The Youth Fund of the Natural Science Foundation of Shaanxi (2022JQ-316).
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Li, C. et al. (2022). The Multi-objective Optimization of a Multi-loop Mechanism for Space Applications. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_49
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DOI: https://doi.org/10.1007/978-3-031-13844-7_49
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