A 5-DOF Hybrid Parallel Robotic Manipulator: Design, Analysis, Performance Modeling and Multi-Objective Optimization

The progress of the 21st century advanced and integrated manufacturing technology highly relies on the development of higher performance robotic system for rapidly adapting to the dramatic change of manufacturing environment and performance-critical applications. Based on this scenario, this research is focused on system configuration, performance analysis and multi-objective optimization of a new hybrid parallel robotic manipulator with two rotations and three translations. The structure design and the kinematic analysis are conducted. The key performance indices including local/global stiffness, local/global dexterity and workspace are modeled, visualized and optimized. The proposed method provides a unique viewpoint for the design optimization of multi-axis machine center based on system hybridization.Copyright © 2014 by ASME