Multi-objective Parameters Optimization Design of a Novel 3-DOF Parallel Robot

Abstract

Under the same workspace, the different structural parameters of parallel mechanism will lead to different mechanism performances. Therefore, obtaining the optimal structural parameters of parallel mechanism is an important guarantee for mechanism performance. To address this problem, a new 3-DOF 2-RRU&RSR parallel robot is selected as the research object. Firstly, the parameter modeling is carried out and imported into ADAMS. Secondly, several important parameters of the parallel robot are selected as design variables for design and research. The trajectories and loads of the moving platform end of the parallel robot are limited, and the effects of various parameters on the quality, transfer efficiency, total kinetic energy consumption and input angular amplitude of the parallel robot are obtained. Finally, multiple objectives are synthesized into a total objective function by the weighting factor method. Based on the design research, the four important parameters are used as design variables to optimize the design, and an optimal solution that weighs multiple objectives is obtained, so that the parallel robot obtains Lightweight design and performance improvement.