Optimal Design of a 4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and Angular Constraints

作者：Songtao Liu, Tian Huang, Jiangping Mei, Xueman Zhao, Panfeng Wang, D.G. Chetwynd · 发表于：Journal of Mechanisms and Robotics · 年份：2012 · DOI：10.1115/1.4006743 · 被引用次数：90 · 研究领域：Robotic Mechanisms and Dynamics、Piezoelectric Actuators and Control、Mechanical Engineering and Vibrations Research

Abstract This paper deals with the optimal design of a 4-DOF SCARA type (three translations and one rotation) parallel robot using dynamic performance indices and angular constraints within and amongst limbs. The architecture of the robot is briefly addressed with emphasis on the mechanical realization of the articulated traveling plate for achieving a lightweight yet rigid design. On the basis of the kinematic singularity analysis, two types of transmission angle constraints are considered to ensure the kinematic performance. A simplified model of rigid body dynamics is then formulated, with which two global dynamic performance indices are proposed for minimization by taking into account both inertial and centrifugal/Coriolis effects. In addition, the servomotor specifications are estimated using the Extended Adept Cycle. The proposed approach has successfully been employed to develop a prototype machine.