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

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

3933

Lastpage

3937

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICMA.2009.5244882

Filename

5244882