Abstract
The development of a new parallel robot manipulator based on simulation analysis is a rapid approach to discover the unique features or advantage of a conceptual model. In this paper, a 5-DOF parallel robot manipulator which can generate three translations and two rotations was presented. The kinematics mathematical model and Jacobian matrix were derived analytically. The global conditions index (GCI) and the global gradient index (GGI) which represent the evaluation index of dexterity were introduced by considering the kinematics performance indices over the whole workspace. The workspace model of the mechanism was analyzed based on a simplified boundary searching method. The mathematical model of the global condition number was developed simultaneously. The multi-objective optimization model was deduced on the basis of the multidisciplinary design philosophy. The manipulator was optimized by using the design of experiment (DOE) and the multi-island genetic algorithm (MIGA). The optimal solution was chosen from the multi optimal solutions in a reasonable manner. Through the comparison of results before and after optimization, the kinematics performance of the mechanism was improved, which provide not only a guide to the multiple objectives optimal design but also an applicable method of dimensional synthesis for the optimal design of general parallel robot manipulator.
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Cui, G., Zhang, H., Xu, F., Sun, C. (2014). Kinematics Dexterity Analysis and Optimization of 4-UPS-UPU Parallel Robot Manipulator. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8918. Springer, Cham. https://doi.org/10.1007/978-3-319-13963-0_1
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DOI: https://doi.org/10.1007/978-3-319-13963-0_1
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13962-3
Online ISBN: 978-3-319-13963-0
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