Dimensional synthesis of six-degrees-of-freedom high-speed parallel robot using comprehensive evaluation index

Abstract

Existing high-speed parallel robots cannot satisfy the operating requirements of non-planar industrial generating line. Considering this problem, this study proposes a comprehensive index that can be used for the dimensional synthesis design of a six-degrees-of-freedom (6-DOF) (three translations and three rotations) parallel robot. The index is based on kinematic, coupling characteristic, and dynamic analyses. A comparison with the dimensional parameters of a previously designed robot shows that the proposed design method can effectively decrease the indexes in various aspects and improve the motion performance of the robot. In addition, the servo motor specifications are estimated using the common trajectory and seven-time B-spline curve motion law to meet the robot motion requirements. Therefore, the proposed design approach has successfully been used to guide and develop the design process of the 6-DOF high-speed parallel robot.