Title :
Optimal design of a 6-DOF parallel robot for precise manipulation
Author :
Wang, Lefeng ; Weibin Rong ; Qi, Limin ; Qin, Zhigang
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
A 3-PPTRR parallel mechanism is presented in this paper. Six high resolution ceramic motors have been used as actuators in the parallel robot for precise manipulation applications. The inverse kinematics of the robot is analysed based on the geometrical restriction, in addition the Jacobian matrix is deduced with the vector method. A global performance index is adopted to optimize the dimensions of the parallel mechanism, and the optimization flow is built in detail. The distribution of the performance index in the whole workspace after optimization is presented. The robot has been developed according to the optimal dimensions, moreover, the resolution and repeatability performances of it are measured. The results show that the robot has fine performances for precise applications.
Keywords :
Jacobian matrices; manipulator kinematics; optimal control; performance index; precision engineering; vectors; 3-PPTRR parallel mechanism; 6-DOF parallel robot; Jacobian matrix; global performance index; high resolution ceramic motor; optimal design; optimization flow; precise manipulation; robot inverse kinematics; vector method; Biomedical engineering; Ceramics; Design automation; Jacobian matrices; Kinematics; Laboratories; Mechatronics; Parallel robots; Performance analysis; Robotics and automation; dimensional optimization; global performance index; parallel robot; piezo-ceramic motor;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5244882
