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
Cited by
15 articles.
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