Topology and Dimension Synchronous Optimization of 1T2R Parallel Robots

Abstract

Parallel robots have attracted much attention from both academia and engineering in last two decades. For development of novel parallel robots, topology and dimensions are brought into sharper focus, which are associated closely and have coupled influence on both motion pattern and performance together. However, currently topology design and dimension design are always performed individually with independent aims, leading to local optimal solutions and difficulties in further modification. Actually, the intrinsic relationship between topology and performance is concerned far from abundant. In this article, a method for topology and dimension synchronous optimization is investigated by employing finite screw theory. Within this approach, two algorithms are formulated to parameterize and deliver topology characters in the same format with dimensions. Topology design and dimension design are converted into a synchronous optimization model with mixed variables and multi-objectives, resulting in global optimal solutions of both optimal topology and dimensions. Topology and dimension synchronous optimization of a kind of 1T2R parallel robots is presented and discussed by comparing with state-of-the-art methods.