Abstract
The kinematic optimization of a type of parallel manipulator is addressed. Based on the kinematic analysis, the pressure angles within a limb and among the limbs are introduced, which have definite physical and geometrical meanings. In particular, a type of new pressure angle among the limbs (referred to as the second type of pressure angle among the limbs) is defined and considered to be one of the pressure angle constraints to ensure the kinematic performance. In the kinematic optimization phase, a global and comprehensive performance index, which combines the conditioning number of Jacobian matrix and pressure angles with the volume of workspace, is formulated as an objective function for minimization. One optimal kinematic design example that determines the dimensional parameters is provided to clarify the availability of the proposed approach. The analytical results indicate that good kinematic and dynamic performance can be guaranteed with the suggested design approach. Furthermore, the mutual effect between the dexterity and new pressure angle is analyzed. The effects of the pressure angle constraints on the minimum and maximum conditioning numbers and global dynamic performance indices through the entire workspace are discussed. The proposed research provides a method for the kinematic optimization design of parallel manipulators.
Highlights
In light industries such as electronics, foodstuffs, pharmaceuticals, and everyday chemicals, pick-and-place operations are often required to inspect, carry, package, and sort the products
With the maximum pressure angle being defined as an additional constraint, a comprehensive index that combined the area of the workspace and the conditioning number of the Jacobian matrix was used for the kinematic optimization design
This article introduces a method for the optimization design using a global and comprehensive performance index and pressure angle constraints
Summary
In light industries such as electronics, foodstuffs, pharmaceuticals, and everyday chemicals, pick-and-place operations are often required to inspect, carry, package, and sort the products. With the maximum pressure angle being defined as an additional constraint, a comprehensive index that combined the area of the workspace and the conditioning number of the Jacobian matrix was used for the kinematic optimization design. Brinker et al.[19] aggregated the transmission and constraint characteristics into a single index, and the validity and applicability for kinematic performance optimization was proven Another 2-DOF parallel mechanism was analyzed in the study by Huo et al.,[20] where non-dominated sorting genetic algorithm II was utilized to optimize the design dimensional parameters by means of three global indices. The ability of force/ motion transmission in a mechanical structure can be determined based on the pressure angles and the kinematic performance of the manipulators can be represented by the condition number.
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