Parametric Dimension Synthesis and Optimizations of Planar 5R Parallel Robots

Parametric Dimension Synthesis and Optimizations of Planar 5R Parallel Robots

Ming Z. Huang (University of San Diego, San Diego, CA, USA)
Copyright: © 2016 |Pages: 15
DOI: 10.4018/IJRAT.2016070101
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Abstract

The dimension synthesis problem for parallel robots in general is much more complex than their serial counterparts, due to the strong dependence of geometric parameters and their performances. In dimension synthesis for robots, typical performance characteristics that may be considered to evaluate the fitness of a design include workspace, manipulability, velocity, stiffness, and payload. A case study on optimal design for both workspace and manipulability had been presented previously for a class of planar parallel robots with 5R joints. This paper extends the design optimization study to include stiffness, velocity, and payload characteristics for the same class of 2-dof robots. A simple and effective parameter-variation-based, constrained optimization method will be demonstrated to obtain various optimal design solutions corresponding to those characteristics respectively. The optimal design solutions, obtained in scalable dimensionless forms, are global in nature and relative to a workspace constraint.
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2. System Model

The robot being considered is a two-degree-of-freedom five-bar planar parallel robot (see Figure 1) for positioning applications. The robotic mechanism consists of a wrist (point P) supported by two articulated arms. Each arm is composed of two links forming a closed chain connected through five revolute (R) joints between the links (at points A and B, P) and to the ground (points O1 and O2). The link lengths of each two-link arm are L and m, respectively. Point Q is the tool center point of end effector which is located at βm from the wrist point P along the upper right arm.

Figure 1.

Geometric structure of the planar 5R parallel robot

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