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Indexed by:期刊论文

Date of Publication:2016-12-01

Journal:MECHANISM AND MACHINE THEORY

Included Journals:SCIE、EI、Scopus

Volume:106

Issue:106

Page Number:148-165

ISSN No.:0094-114X

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

Abstract: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.