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.
| Original language | English |
|---|---|
| Article number | 24 |
| Journal | Machines |
| Volume | 4 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1 Dec 2016 |
| Externally published | Yes |
Keywords
- Kinematics
- Mixed motion
- Modelling
- Optimization
- Parallel mechanism
- Pure rotation
- Pure translation
ASJC Scopus subject areas
- Computer Science (miscellaneous)
- Control and Systems Engineering
- Mechanical Engineering
- Control and Optimization
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering