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论文类型： 期刊论文

发表时间： 2016-12-01

发表刊物： MECHANISM AND MACHINE THEORY

收录刊物： SCIE、EI、Scopus

卷号： 106

期号： 106

页面范围： 148-165

ISSN号： 0094-114X

关键字： Pick-and-place robot; Schonflies motion; Multi-objective design optimization; Transmission; Pareto-front

摘要： This paper deals with the architecture optimization of a parallel Schonflies-motion robot admitting a rectangular workspace, which allows to utilize the shop-floor space efficiently for flexible pick-and-place applications. In this work, parametric models including the transmission quality, elasto-statics and dynamics are established and further used in the integrated architectural design optimization. By taking the design requirements and pick-and-place trajectory into consideration, the kinematic and dynamic performances of the robot are optimized with prescribed workspace based on a multi-objective optimization approach. The Pareto-front is obtained, which provides optimal solutions to the robot design. Robot prototyping work based on the optimal results is described. (C) 2016 International Federation for the Promotion of Mechanism and Machine Science Published by Elsevier Ltd. All rights reserved.