TY - GEN
T1 - A 5-DOF hybrid parallel robotic manipulator: Design, analysis, performance modeling and multi-objective optimization
AU - Gao, Zhen
AU - Zhang, Dan
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - The progress of the 21st century advanced and integrated manufacturing technology highly relies on the development of higher performance robotic system for rapidly adapting to the dramatic change of manufacturing environment and performance-critical applications. Based on this scenario, this research is focused on system configuration, performance analysis and multi-objective optimization of a new hybrid parallel robotic manipulator with two rotations and three translations. The structure design and the kinematic analysis are conducted. The key performance indices including local/global stiffness, local/global dexterity and workspace are modeled, visualized and optimized. The proposed method provides a unique viewpoint for the design optimization of multi-axis machine center based on system hybridization.
AB - The progress of the 21st century advanced and integrated manufacturing technology highly relies on the development of higher performance robotic system for rapidly adapting to the dramatic change of manufacturing environment and performance-critical applications. Based on this scenario, this research is focused on system configuration, performance analysis and multi-objective optimization of a new hybrid parallel robotic manipulator with two rotations and three translations. The structure design and the kinematic analysis are conducted. The key performance indices including local/global stiffness, local/global dexterity and workspace are modeled, visualized and optimized. The proposed method provides a unique viewpoint for the design optimization of multi-axis machine center based on system hybridization.
UR - http://www.scopus.com/inward/record.url?scp=84961303873&partnerID=8YFLogxK
U2 - 10.1115/DETC2014-34795
DO - 10.1115/DETC2014-34795
M3 - Conference article published in proceeding or book
AN - SCOPUS:84961303873
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers(ASME)
T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Y2 - 17 August 2014 through 20 August 2014
ER -