Modelling and optimisation of a 4-DOF hybrid robotic manipulator

Dan Zhang, Bin Wei

Research output: Journal article publicationJournal articleAcademic researchpeer-review

8 Citations (Scopus)


The global compliance and global condition index of a 4-degrees-of-freedom hybrid robotic manipulator are modelled and optimised. The kinematic analysis of the hybrid robotic manipulator is studied in detail. The manipulator compliance model is obtained and the summation of the main leading diagonal elements of the compliance matrix, which is known as the global compliance, is employed as a criterion to assess the rigidity of the mechanism. The global condition index, which is obtained by the Monte Carlo technique, is employed as a criterion to assess the mechanism workspace. It is found that increasing the mechanism workspace will lead to the mechanism compliance increase. Thus, the global compliance and the global condition index of the manipulator are optimised simultaneously. The optimised results are analysed and compared. The proposed mechanism design can be potentially used as machine tools in manufacturing assembly and processes applications.

Original languageEnglish
Pages (from-to)1179-1189
Number of pages11
JournalInternational Journal of Computer Integrated Manufacturing
Issue number11
Publication statusPublished - 2 Nov 2017
Externally publishedYes


  • modelling
  • multi-objective optimisation
  • optimisation
  • parallel manipulator
  • particle swarm optimisation
  • robotic manipulator

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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