Abstract
This study focuses on the operating dexterity and multi-objective optimization of a 3-DOF parallel manipulator for the segment assembly system in shield tunneling machines. Operating dexterity, including kinematic and dynamic dexterity, is defined for the manipulator. This work has been done by considering motion transmissibility and acceleration. Multi-objective optimization for the parallel manipulator has been conducted by Isight software with the objective of achieving operating dexterity. Optimal performance evaluation in terms of the dexterity and isotropy of the parallel manipulator was carried out. The optimum region for the manipulator was established based on range of the performance indices of operating dexterity. The results indicate that motion transmission and acceleration performance improved after optimization. The method provides a reference for the design, performance evaluation, and control of parallel manipulators.
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