The kinematic performance optimization of a 2-DoF parallel robot based on new variance indices

Abstract

The kinematic performance optimization of a 2-PRR parallel robot based on new variance indices is given in this paper. First, the inverse kinematic equation of the 2-PRR parallel robot is derived. Then the velocity performance evaluable indices LCI and GCI, the stiffness performance evaluable indices LSI and GSI are analyzed. To consider the distribution of the LCI and LSI in the global indices, two new global kinematic performance indices GCVI and GSVI, which are based on variance calculation, are given. Furthermore, the kinematic performance optimization based on the four global indices is derived. From the simulation result, it can be found that the optimization method based on multi indices can improve the kinematic performance of the parallel robot well.