Abstract
Abstract. In order to improve the accuracy and efficiency of special machining for a complex surface, a 2RPU-2SPR (where R, P, U, and S stand for revolute, prismatic, universal, and spherical joints, respectively) over-constrained redundantly actuated parallel robot mechanism is proposed. And six performance evaluation indexes are established to ensure the working performance including workspace, motion/force transmission efficiency, stiffness, dexterity, energy efficiency, and the inertia coupling index. Furthermore, a collaborative optimal configuration algorithm is conducted based on an orthogonal experimental design algorithm and a multi-objective particle swarm optimization algorithm. On the basis given above, a simulation analysis of a multi-objective optimization is conducted. Compared with two traditional, intelligent optimization algorithms of a multi-objective particle swarm optimization algorithm and an orthogonal experimental design method, the improved collaborative multi-objective optimization algorithm has a better optimization effect.
Highlights
With the continuous development of the manufacturing industry, machine tools play an important role in the processing of large and complex specially shaped work pieces
Yang et al (2019) invented a new three degrees of freedom (DOF) asymmetric translational parallel manipulator that is adapted to pick-and-place operation under heavy load
In order to complete the machining task of a complex curved surface accurately and efficiently, this paper proposes an over-constrained redundantly actuated parallel mechanism and introduces and analyses six performance evaluation indexes
Summary
With the continuous development of the manufacturing industry, machine tools play an important role in the processing of large and complex specially shaped work pieces. Zhang et al (2019a) presented a novel redundantly actuated parallel manipulator that can be employed to form a five-axis hybrid kinematic machine tool for large heterogeneous complex structural component machining in the aerospace field. Yang et al (2019) invented a new three degrees of freedom (DOF) asymmetric translational parallel manipulator that is adapted to pick-and-place operation under heavy load. The research on redundantly actuated parallel mechanism is great valuable for special machining. Zhang et al (2018) proposed a novel mobile serial–parallel mechanism with legs for in-pipe use and analyzed the singularities of the parallel mechanism. The parallel mechanism can achieve a continuous and equivalent rotation
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