Performance Analysis and Optimization of A Novel 5-DOF Hybrid Robot

被引：0
|
作者：
Wu, You [1 ]
Yang, Zhen [1 ]
Zhang, Tiefeng [2 ]
Shi, Weiyi [2 ]
Fu, Zhuang [1 ]
Zhuang, Yu [1 ]
Zhu, Yuhao [1 ]
机构：
[1] State Key Lab Mech Syst & Vibrat, Shanghai, Peoples R China
[2] Dachang Hosp, Shanghai, Peoples R China
来源：
2017 IEEE 7TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2017年
基金：
中国国家自然科学基金;
关键词：
Hybrid robot; Performance analysis; Optimization; Genetic algorithm; MANIPULATORS; WORKSPACE; MOTION; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The performance analysis and optimization of a hybrid robot, to maximize its speed, the natural frequency and the static stiffness is the subject of this paper. Based on delta robot, a hybrid robot with 5 degrees of freedom(DOFs) is proposed. Its performance parameters are subjected to the dimension of the hybrid robot. The speed is calculated by the kinematics. The static stiffness analysis and model analysis are done to match the performance parameters with the structure. As to the optimization of the robot, the optimization goals are speed, natural frequency and static stiffness. The design parameters are robot dimensions. It is a multi-objective problem. The multi-objective optimization is transferred into single-objective optimization by assigning a weight to each objective function. Finally, two solutions of the design parameters are represented in this paper.
引用
收藏
页码：400 / 405
页数：6
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