Abstract
A new 6-DOF serial/parallel hybrid segment assembly robot that includes a 3-DOF redundant parallel orientation fine-tuning manipulator is developed. Redundancy can, in general, improve the ability and performance of parallel manipulators by implementing the redundant degree of freedom to optimize the objective function. A multi-objective optimization model of the proposed manipulator is likewise established with consideration of kinematic and dynamic dexterity, load-bearing capacity, stiffness, and actuating force equilibrium. To accomplish optimization, a new multi-objective optimization method is proposed using the application Isight, which integrates various engineering softwares. Results indicate that this method can automatically accomplish the calculation of the kinematic and dynamic performance index, modeling, and solving using Isight. Thus, decision makers can select the proper optimal solution based on the obtained Pareto plot and Pareto frontier. Finally, optimizing its design variables considerably improves the performance of the proposed parallel manipulator.
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