副教授 硕士生导师
性别: 男
毕业院校: 奥尔堡大学
学位: 博士
所在单位: 机械工程学院
学科: 机械设计及理论. 机械制造及其自动化. 机械电子工程
办公地点: 西部校区知方楼9013
联系方式: 15940994026
电子邮箱: gwu@dlut.edu.cn
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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.