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Multi-objective Dimensional Optimization of a 3-DOF Translational PKM Considering Transmission Properties

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Abstract

Multi-objective dimensional optimization of parallel kinematic manipulators (PKMs) remains a challenging and worthwhile research endeavor. This paper presents a straightforward and systematic methodology for implementing the structure optimization analysis of a 3-prismatic-universal-universal (PUU) PKM when simultaneously considering motion transmission, velocity transmission and acceleration transmission. Firstly, inspired by a planar four-bar linkage mechanism, the motion transmission index of the spatial parallel manipulator is based on transmission angle which is defined as the pressure angle amongst limbs. Then, the velocity transmission index and acceleration transmission index are derived through the corresponding kinematics model. The multi-objective dimensional optimization under specific constraints is carried out by the improved non-dominated sorting genetic algorithm (NSGA II), resulting in a set of Pareto optimal solutions. The final chosen solution shows that the manipulator with the optimized structure parameters can provide excellent motion, velocity and acceleration transmission properties.

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Acknowledgments

This work was supported by National Natural Science Foundation of China (Nos.51575544 and 51275353), the Macao Science and Technology Development Fund (No.H0/2013/A3) and Research Committee of University of Macau (Nos.MYRG2015-00194-FST and MYRG203 (Y1-L4)-FST11-LYM).

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Authors and Affiliations

  1. Department of Electromechanical Engineering, University of Macau, Taipa, Macao, 853, China

    Song Lu & Bing-Xiao Ding

  2. Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, 852, China

    Yang-Min Li

  3. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology, Tianjin, 300384, China

    Yang-Min Li

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  1. Song Lu
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Correspondence to Song Lu.

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Recommended by Associate Editor Xun Xu

Song Lu received the M.Sc. degree in mechanical design and theory from Shantou University, China in 2013. He is currently a Ph. D. degree candidate in electromechanical engineering at Faculty of Science and Technology, University of Macau, China.

His research interests include robotics, parallel manipulators, and mechanism design.

Yang-Min Li received the B.Sc. and M.Sc. degrees from Jilin University, China, in 1985 and 1988, respectively, and the Ph.D. degree from Tianjin University, China in 1994, all in mechanical engineering. He is currently a full professor with the Department of Industrial and Systems Engineering, Hong Kong. He is a Member of the American Society of Mechanical Engineers and the Canadian Society of Mechanical Engineers. He is an Associate Editor of the IEEE Transactions on Automation Science and Engineering, Mechatronics, and International Journal of Control, Automation, and Systems.

His research interests include robotics, parallel manipulators, micromanipulators multibody dynamics and control.

Bing-Xiao Ding received the Ph.D. degree in electromechanical engineering from University of Macau, China in 2018. He is currently an assistant professor with the Department of Mechanical, Jishou University, China.

His research interests include robotics, micro-positioning, smart actuators, hysteresis compensation and nonlinear system control.

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Lu, S., Li, YM. & Ding, BX. Multi-objective Dimensional Optimization of a 3-DOF Translational PKM Considering Transmission Properties. Int. J. Autom. Comput. 16, 748–760 (2019). https://doi.org/10.1007/s11633-019-1184-9

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  • DOI: https://doi.org/10.1007/s11633-019-1184-9

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