Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 2
Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-745-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-745-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 16, issue 2
Research article
 | 
11 Nov 2025
Research article |  | 11 Nov 2025

The kinematics analysis and improvement of the 3T1R 4-PUU parallel mechanism using the whale optimization algorithm

Kai Wen, Xiaoning Zhou, Andong Jiang, and Jie Li

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Short summary
This paper presents a 4-degree-of-freedom parallel mechanism with Schönflies motion analyzed by screw theory. An improved beluga whale optimization algorithm with chaotic opposition initialization, elite retention, and golden sine update is proposed for forward kinematics, achieving higher accuracy, robustness, and convergence speed than other methods. MATLAB and Adams co-simulation confirms consistency between model and dynamics, verifying feasibility and reliability.
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