A new hierarchical approach for the optimal design of a 5-dof hybrid serial-parallel kinematic machine. (February 2021)

• Record Type: Journal Article
• Authors: Zhao, Yanqin; Mei, Jiangping; Jin, Yan; Niu, Wentie
• Is Part Of: Mechanism and machine theory. Volume 156(2021)
• Publication Date: 2021-02
• Subjects: Parallel kinematic machine -- Optimal design -- Dimensional synthesis -- Stiffness -- Natural frequency; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2020.104160
• Languages: English
• ISSNs: 0094-114X

Abstract

Abstract: Parallel kinematic machines are highly nonlinear and strongly coupled systems, which makes the driving-structural-dimensional parameters integrated design extremely difficult. To solve this problem, this paper proposes a new hierarchical optimal approach for a 5 degree-of-freedom hybrid serial-parallel kinematic machine. Considering application requirements in high speed machining, a global kinematic index, a global dynamic index, a global elastodynamic index as well as a global stiffness index are introduced and considered as objective functions. Taking the extension ratio and rotation angles as constraint conditions, optimal design is developed through a hierarchical optimization procedure. Results demonstrated that the proposed approach enables the robot to achieve good kinematic, dynamic and stiffness performance simultaneously and can be applied to other PKMs for machining. Highlights: A hierarchical design method for driving-structural-dimensional parameters is proposed. Optimal design of a new hybrid serial-parallel kinematic machine is conducted. A comprehensive performance evaluation system for PKMs in HSM is proposed.