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<p>Abrasive belts exhibit significant advantages in rail grinding applications; however, current positioning adjustment systems for abrasive belt grinding units suffer from poor stiffness and low precision—two critical issues that severely restrict grinding quality. In contrast, parallel mechanisms with compact structure, high precision, and enhanced stiffness are ideal for addressing these challenges, so this study proposes a novel integrated design and optimization methodology for a 3-RPR parallel mechanism tailored to rail grinding applications, with core innovations overcoming limitations of existing approaches. These innovations focus on three aspects: a systematic topology design and parameter analysis framework establishing the relationship between hinge point parameters and key performance metrics; an integrated multi-objective optimization strategy combining the NSGA-II algorithm with fuzzy comprehensive evaluation eliminating subjective weight assignment and efficiently resolving conflicts among performance indicators; and comprehensive experimental validation establishing a direct link between theoretical optimization and practical performance improvement. In the research process, the mechanism topology was first determined based on screw theory and rail grinding task requirements, followed by analyzing parameter impacts on performance, and finally establishing an optimization model constrained by workspace, singularity avoidance, and driving force. Results show that the optimized 3-RPR mechanism achieves notable performance improvements: actuator lengths are reduced by 18.36%, 19.62%, and 1.21%, respectively, global dexterity is increased by 7.41%, and stiffness in X- and Y-directions is enhanced by 6.22% and 22.69%, respectively—directly addressing the stiffness and precision bottlenecks of the grinding unit positioning system. Notably, this study not only provides a theoretical basis for multi-objective optimization of parallel mechanisms and a practical methodology for task-specific mechanism design but also its parameter analysis and optimization logic can be extended to developing high-performance parallel mechanisms in other industrial scenarios, demonstrating broad application value.</p>

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Integrated Pareto-based multi-objective optimization and topology-parameter design of a 3-RPR parallel mechanism for rail grinding applications

  • 期刊论文

  • 发表日期：

    2026年3月18日

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  • Lei Hao,
  • Jianyong Li,
  • Kang Xu,
  • Wengang Fan,
  • Hong Cao,
  • Ziyang Feng

摘要

Abrasive belts exhibit significant advantages in rail grinding applications; however, current positioning adjustment systems for abrasive belt grinding units suffer from poor stiffness and low precision—two critical issues that severely restrict grinding quality. In contrast, parallel mechanisms with compact structure, high precision, and enhanced stiffness are ideal for addressing these challenges, so this study proposes a novel integrated design and optimization methodology for a 3-RPR parallel mechanism tailored to rail grinding applications, with core innovations overcoming limitations of existing approaches. These innovations focus on three aspects: a systematic topology design and parameter analysis framework establishing the relationship between hinge point parameters and key performance metrics; an integrated multi-objective optimization strategy combining the NSGA-II algorithm with fuzzy comprehensive evaluation eliminating subjective weight assignment and efficiently resolving conflicts among performance indicators; and comprehensive experimental validation establishing a direct link between theoretical optimization and practical performance improvement. In the research process, the mechanism topology was first determined based on screw theory and rail grinding task requirements, followed by analyzing parameter impacts on performance, and finally establishing an optimization model constrained by workspace, singularity avoidance, and driving force. Results show that the optimized 3-RPR mechanism achieves notable performance improvements: actuator lengths are reduced by 18.36%, 19.62%, and 1.21%, respectively, global dexterity is increased by 7.41%, and stiffness in X- and Y-directions is enhanced by 6.22% and 22.69%, respectively—directly addressing the stiffness and precision bottlenecks of the grinding unit positioning system. Notably, this study not only provides a theoretical basis for multi-objective optimization of parallel mechanisms and a practical methodology for task-specific mechanism design but also its parameter analysis and optimization logic can be extended to developing high-performance parallel mechanisms in other industrial scenarios, demonstrating broad application value.