A new hierarchical approach for the optimal design of a 5-dof hybrid serial-parallel kinematic machine

Yanqin Zhao, Jiangping Mei, Yan Jin, Wentie Niu*

*Corresponding author for this work

Research output: Contribution to journalArticle

Abstract

Parallel kinematic machines are highly nonlinear and strongly coupled systems, which makes the driving-structural-dimensional parameters integrated design extremely difficult. To solve this problem, this paper proposes a new hierarchical optimal approach for a 5 degree-of-freedom hybrid serial-parallel kinematic machine. Considering application requirements in high speed machining, a global kinematic index, a global dynamic index, a global elastodynamic index as well as a global stiffness index are introduced and considered as objective functions. Taking the extension ratio and rotation angles as constraint conditions, optimal design is developed through a hierarchical optimization procedure. Results demonstrated that the proposed approach enables the robot to achieve good kinematic, dynamic and stiffness performance simultaneously and can be applied to other PKMs for machining.
Original languageEnglish
Article number104160
Number of pages18
JournalMechanism and Machine Theory
Volume156
Early online date05 Nov 2020
Publication statusEarly online date - 05 Nov 2020

Keywords

  • parallel kinematic machine
  • Optimal design
  • dimensional synthesis
  • stiffness
  • natural frequency

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