Stiffness modeling and optimization of a 3-DOF parallel robot in a serial-parallel polishing machine

Peng Xu, Bing Li, Chi Fai Cheung, Ju Fan Zhang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

32 Citations (Scopus)


Polishing is a kind of finishing process that can effectively reduce the surface defects and improve the form accuracy. This paper presents a novel hybrid machine with 6 degrees of freedom (DOF) serial-parallel topological structure used as an ultra-precision polishing equipment which is composed of a 3-DOF parallel robot, a 2-DOF serial robot and a turntable providing a redundant DOF. Due to the complexity of structure, stiffness performance evaluation of the parallel robot becomes a challenge. As a result, a theoretical model of the parallel robot based on the virtual work principle and the deformation superposition principle is formulated for analyzing the stiffness performance. With the developed model, a multi-objective dimensional optimization method is developed to maximize both the workspace volume and the global stiffness performance of the parallel robot. Artificial intelligence approach based on genetic algorithms is implemented to obtain an optimal combination of structural parameters. The effectiveness of this method is validated by simulation and the parallel robot with optimized structural parameters has a workspace with higher stiffness performance, hence justifies its suitability for high precision polishing.
Original languageEnglish
Pages (from-to)497-507
Number of pages11
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number4
Publication statusPublished - 1 Apr 2017


  • Optimization
  • Parallel robot
  • Polishing machine
  • Stiffness

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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