Multi-objective optimal design of a novel 6-DOF spray-painting robot-Reference-Cited by-同舟云学术

Multi-objective optimal design of a novel 6-DOF spray-painting robot

Published:2021-04-19 Issue:12 Volume:39 Page:2268-2282
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Wu Jun^ORCID,Wang Xiaojian,Zhang Binbin,Huang Tian

Abstract

AbstractThis paper deals with the multi-objective optimal design of a novel 6-degree of freedom (DOF) hybrid spray-painting robot. Its kinematic model is obtained by dividing it into serial and parallel parts. The dynamic equation is formulated by virtual work principle. A performance index for evaluating the compactness of robot is presented. Taking compactness, motion/force transmissibility, and energy consumption as performance indices, the optimal geometric parameters of the robot are selected in the Pareto-optimal set by constructing a comprehensive performance index. This paper is very useful for the development of the spray-painting robot.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference23 articles.

1. Optimal Kinematic Design of Spatial Parallel Manipulators: Application to Linear Delta Robot

2. Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment

3. Dynamic optimum design of a three translational degrees of freedom parallel robot while considering anisotropic property

4. Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart—the 6PSS parallel manipulator

5. Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility

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