Configuration design and parameter optimization of 6-PSS parallel mechanism
WANG Qiming
XUE Muyu
GAO Dawei
FANG Ming
GE Yun
Abstract：[Objective]Aiming at the lack of systematic research on configuration arrangement and dimensional synthesis optimization of 6-PSS parallel mechanisms,this study focuses on improving the workspace and dexterity through multi-configuration comparison and algorithm optimization.[Methods]Firstly,four different configurations were designed,and their kinematics models were established.Secondly,the reachable workspace was solved using the interval discretization method.Then,dimensional synthesis optimization was performed with the workspace as the objective function by using the performance of the particle swarm optimization(PSO)and the equilibrium optimizer(EO)algorithms respectively.Finally,error sensitivity analysis and physical prototype tests were conducted to verify the proposed model.[Results]The results indicate that the EO algorithm outperforms the PSO algorithm in terms of optimization efficiency.The optimal structural parameters determined in this study significantly enhance the comprehensive performance of the mechanism,providing a foundation for the design of 6-PSS parallel mechanisms.
Keywords：6-PSS parallel mechanismStructure designWorkspaceError analysisPrototype test
Publication Date：2026-03-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：13( 47-59 )