Multi-objective optimal design of a novel 6-DOF spray-painting robot. Issue 12 (19th December 2021)

• Record Type: Journal Article
• Authors: Wu, Jun; Wang, Xiaojian; Zhang, Binbin; Huang, Tian
• Is Part Of: Robotica. Volume 39:Issue 12(2021)
• Page Start: 2268
• Page End: 2282
• Publication Date: 2021-12-19
• Subjects: Hybrid robot -- Performance evaluation -- Compactness -- Motion/force transmissibility -- Energy consumption -- Multi-objective optimization; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S026357472100031X
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: This 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.