Abstract
The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all, the kinematics and Jacobian for the robotic manipulators are determined through different approaches; secondly, objective functions modelling are presented, and the associated optimization issues and the geometric parameters’ effect on the objective functions for the robotic mechanisms are illustrated and analyzed in detail. Through employing several multi-objective optimization approaches, we manifest an overall process and approach for multi-objective optimization of robotic systems. The correlation among different stiffness models is finally presented. The results indicate that the kinetostatic compliance model is the closest one to the traditional stiffness model.
Highlights
Parallel robotic mechanisms have been broadly employed in the healthcare area [1], agricultural area [2,3], manufacturing area [4,5,6], sensor applications [7,8], etc
The stiffness performance, in a large number of cases, is one of the critical factors that needs to be taken into consideration in the parallel robotic arena, because stiffness demonstrates how rigid a parallel mechanism can be and sometimes can represent the general accuracy performance of a robotic mechanism
Stiffness is usually employed to measure how much a mechanism can resist under certain loads, and it is seen by many scholars and engineers as one of the most important attributes for robotic mechanisms, as a large value of stiffness will usually result in good precision when robotic mechanisms are employed as machine tools to manufacture pieces
Summary
Parallel robotic mechanisms have been broadly employed in the healthcare area [1], agricultural area [2,3], manufacturing area [4,5,6], sensor applications [7,8], etc. Stiffness is usually employed to measure how much a mechanism can resist under certain loads, and it is seen by many scholars and engineers as one of the most important attributes for robotic mechanisms, as a large value of stiffness will usually result in good precision when robotic mechanisms are employed as machine tools to manufacture pieces. One usually employs a stiffness matrix to represent the stiffness of a parallel robotic mechanism.
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