Hostname: page-component-5c6d5d7d68-qks25 Total loading time: 0 Render date: 2024-08-16T18:15:06.420Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

Published online by Cambridge University Press:  26 May 2023

Xuhao Wang Open the ORCID record for Xuhao Wang [Opens in a new window] ,
Yufei Lin Open the ORCID record for Yufei Lin [Opens in a new window] ,
Yiran Cao ,
Mengli Wu Open the ORCID record for Mengli Wu [Opens in a new window]  and
Shuo Sun
Xuhao Wang
Affiliation:
College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China
Yufei Lin
Affiliation:
College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China
Yiran Cao*
Affiliation:
College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China
Mengli Wu*
Affiliation:
College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China
Shuo Sun
Affiliation:
College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China
*
Corresponding authors: Yiran Cao, Mengli Wu; Emails: yrcao@cauc.edu.cn, wuml2004@qq.com
Corresponding authors: Yiran Cao, Mengli Wu; Emails: yrcao@cauc.edu.cn, wuml2004@qq.com
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper focuses on the design, analysis, and multi-objective optimization of a novel 5-degrees of freedom (DOF) double-driven parallel mechanism. A novel 5-DOF parallel mechanism with two double-driven branch chains is proposed, which can serve as a machine tool. By installing two actuators on one branch chain, the proposed parallel mechanism can achieve 5-DOF of the moving platform with only three branch chains. Afterwards, analytical solution for inverse kinematics is derived. The 5$\times$5 homogeneous Jacobian matrix is obtained by transforming actuator velocities into linear velocities at three points on the moving platform. Meanwhile, the workspace, dexterity, and volume are analyzed based on the kinematic model. Ultimately, a stage-by-stage Pareto optimization method is proposed to solve the multi-objective optimization problem of this parallel mechanism. The optimization results show that the workspace, compactness, and dexterity of this mechanism can be improved efficiently.

Keywords

double-driven parallel mechanismmechanism designperformance analysismulti-objective optimizationstage-by-stage Pareto
Type
Research Article
Information
Robotica , Volume 41 , Issue 9 , September 2023 , pp. 2829 - 2849
Copyright
© The Author(s), 2023. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Wu, M., Zhang, Y., Yue, X., Lv, D., Chen, M., Wang, X. and Zhang, J., “Optimal design of an asymmetrical parallel mechanism,” Proc. Inst. Mech. Part C: J. Mech. Eng. Sci. 235(23), 6922–6939 (2021).CrossRefGoogle Scholar
Yan, P., Huang, H., Li, B. and Zhou, D., “A 5-DOF redundantly actuated parallel mechanism for large tilting five-face machining,” Mech. Mach. Theory 172, 104785 (2022).CrossRefGoogle Scholar
Wu, M., Yue, X., Chen, W., Nie, Q. and Zhang, Y., “Accuracy analysis and synthesis of asymmetric parallel mechanism based on Sobol-QMC,” Proc. Inst. Mech. Part C: J. Mech. Eng. Sci. 234(21), 4200–4214 (2020).CrossRefGoogle Scholar
Lacombe, J. and Gosselin, C., “Singularity analysis of a kinematically redundant (6+2)-DOF parallel mechanism for zero-torsion configurations,” Mech. Mach. Theory 170, 104682 (2022).CrossRefGoogle Scholar
Zou, Q., Zhang, D., Luo, X., Huang, G., Li, L. and Zhang, H., “Enumeration and optimum design of a class of translational parallel mechanisms with prismatic and parallelogram joints,” Mech. Mach. Theory 150, 1–15 (2020).CrossRefGoogle Scholar
Karnam, M. K., Baskar, A., Srivatsan, R. A. and Bandyopadhyay, S., “Computation of the safe working zones of planar and spatial parallel manipulators,” Robotica 38(5), 861–885 (2020).CrossRefGoogle Scholar
Laryushkin, P., Antonov, A., Fomin, A. and Essomba, T., “Velocity and singularity analysis of a 5-DOF (3T2R) Parallel-Serial (Hybrid) manipulator,” Machines 10(4), 276 (2022).CrossRefGoogle Scholar
Li, J., Ye, F., Shen, N., Wang, Z. and Geng, L., “Dimensional synthesis of a 5-DOF hybrid robot,” Mech. Mach. Theory 150, 103865 (2020).CrossRefGoogle Scholar
Wang, Y., Chen, Y. and Liu, R., “Aircraft image recognition network based on hybrid attention mechanism,” Comput. Intell. Neurosci. 2022, 4189500 (2022).Google ScholarPubMed
Zhao, X., Zhao, T., Xu, X., Bian, H. and Ding, S., “Kinematic analysis and dimensional synthesis of a three-degrees-of-freedom hybrid-drive parallel mechanism,” Proc. Inst. Mech. Part C: J. Mech. Eng. Sci. 233(8), 2728–2752 (2018).CrossRefGoogle Scholar
Lu, Y., Wang, P., Zhao, S., Hu, B., Han, J. and Sui, C., “Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs,” Rob. Comput. Integr. Manuf. 30(1), 25–33 (2014).CrossRefGoogle Scholar
Zhao, X., Zhao, T., Wang, C., Tian, X. and Chen, Y., “Type synthesis and analysis of parallel mechanisms with sub-closed-loops,” Mech. Mach. Theory 120, 140–165 (2018).CrossRefGoogle Scholar
Louis, S. and Clement, G., “Exploiting the kinematic redundancy of a (6+3) degrees-of-freedom parallel mechanism,” J. Mech. Rob. 11(2), 021005 (2019).Google Scholar
Wen, K. and Gosselin, C., “Exploiting redundancies for workspace enlargement and joint trajectory optimisation of a kinematically redundant hybrid parallel robot,” ASME J. Mech. Rob. 13(4), 040905 (2021).CrossRefGoogle Scholar
Ren, H., Li, Q., Liu, B. and Dou, Z., “Design and optimization of an elastic linkage quadruped robot based on workspace and tracking error,” Proc. Inst. Mech. Part C: J. Mech. Eng. Sci. 232(22), 4152–4166 (2018).CrossRefGoogle Scholar
Shibu, K. J., Shankar, K., Babu, C. K. and Degaonkar, G. K., “Multi-objective optimization of a maneuvering small aircraft turbine engine rotor system,” J. Intell. Rob. Syst. 103(4), 1–14 (2021).Google Scholar
Burkus, E., Odry, A., Awrejcewicz, J., Kecskes, I. and Odry, P., “Mechanical design and a novel structural optimization approach for hexapod walking robots,” Machines 10(6), 466 (2022).CrossRefGoogle Scholar
Alessandro, C. and Rosario, S., “Elastodynamic optimization of a 3T1R parallel manipulator,” Mech. Mach. Theory 73(73), 184–196 (2014).CrossRefGoogle Scholar
Luan, N., Zhang, H., Gui, H., Zhang, S., Lin, Y. and Wu, J., “Placement and motion optimization of redundant maxillofacial surgical robot with new dexterity measure,” Int. J. Robot. Autom. 31(2), 118–127 (2016).Google Scholar
Wu, J., Wang, X., Zhang, B. and Huang, T., “Multi-objective optimal design of a novel 6-DOF spray-painting robot,” Robotica 39(12), 2268–2282 (2021).CrossRefGoogle Scholar
Huang, G., Guo, S., Zhang, D., Qu, H. and Tang, H., “Kinematic analysis and multi-objective optimization of a new reconfigurable parallel mechanism with high stiffness,” Robotica 36(2), 187–203 (2017).CrossRefGoogle Scholar
Xu, Y., Cheng, L., Yang, J., Ji, Y., Wang, H., Sun, H., Liu, C. and Zhang, B., “Cartesian space track planning for welding robot with inverse solution multi-objective optimization,” Meas Control-UK 55(7-8), 583–594 (2022).CrossRefGoogle Scholar
Rosyid, A., El-Khasawneh, B. and Alazzam, A., “Genetic and hybrid algorithms for optimization of non-singular 3PRR planar parallel kinematics mechanism for machining application,” Robotica 36(6), 839–864 (2018).CrossRefGoogle Scholar
Li, C., Wang, N., Chen, K. and Zhang, X., “Prescribed flexible orientation workspace and performance comparison of non-redundant 3-DOF planar parallel mechanisms,” Mech. Mach. Theory 168, 104602 (2022).CrossRefGoogle Scholar
Zhao, G., Zhu, M. and Hayes, M. D., “Pareto optimal multirobot motion planning,” IEEE Trans. Autom. Control 66(9), 3984–3999 (2021).CrossRefGoogle Scholar
Guigue, A., Ahmadi, M., Langlois, R. and Hayes, M. D., “Pareto Optimality and multiobjective trajectory planning for a 7-DOF redundant manipulator,” IEEE Trans. Rob. 26(6), 1094–1099 (2010).CrossRefGoogle Scholar
Herrero, S., Pinto, C., Diez, M. and Zubizarreta, A., “Optimization of the 2PRU-1PRS parallel manipulator based on workspace and power consumption criteria,” Appl. Sci. 11(17), 7770 (2021).CrossRefGoogle Scholar
Sato, Y., Izui, K., Yamada, T. and Nishiwaki, S., “Pareto frontier exploration in multiobjective topology optimization using adaptive weighting and point selection schemes,” Struct. Multidiplinary Optim. 55(2), 409–422 (2017).CrossRefGoogle Scholar
Russo, M., Herrero, S., Altuzarra, O. and Ceccarelli, M., “Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg,” Mech. Mach. Theory 120, 192–202 (2018).CrossRefGoogle Scholar
Qi, Y., Sun, T. and Song, Y., “Multi-objective optimization of parallel tracking mechanism considering parameter uncertainty,” ASME J. Mech. Rob. 10(4), 041006 (2018).CrossRefGoogle Scholar
Elsisy, M., Sayed, M., Abo-Elnaga, Y. and Elsayed, Y., “Engineering physics and mathematics a novel algorithm for generating Pareto frontier of bi-level multi-objective rough nonlinear programming problem,” Ain Shams Eng. J. 12(2), 2125–2133 (2021).CrossRefGoogle Scholar
Wang, G., Hu, Q., Xu, C., Zhao, B. and Su, X., “Analysis and Pareto frontier based tradeoff design of an integrated magnetic structure for a CLLC resonant converter,” Energies 14(6), 1756 (2021).CrossRefGoogle Scholar
Sun, T. and Lian, B., “Stiffness and mass optimization of parallel kinematic machine,” Mech. Mach. Theory 120, 73–88 (2018).CrossRefGoogle Scholar
Bounab, B., “Multi-objective optimal design based kineto-elastostatic performance for the DELTA parallel mechanism,” Robotica 34(2), 258–273 (2016).CrossRefGoogle Scholar
Farooq, S., Baqai, A. and Shah, M., “Optimal design of tricept parallel manipulator with particle swarm optimization using performance parameters,” J. Eng. Res. 9(2), 378–395 (2021).CrossRefGoogle Scholar
Yun, Y. and Li, Y., “Optimal design of a 3-PUPU parallel robot with compliant hinges for micromanipulation in a cubic workspace,” Rob. Comput. Integr. Manuf. 27(6), 977–985 (2011).CrossRefGoogle Scholar
Wang, H., Zhang, L., Chen, G. and Huang, S., “Parameter optimization of heavy-load parallel manipulator by introducing stiffness distribution evaluation index,” Mech. Mach. Theory 108, 244–259 (2017).CrossRefGoogle Scholar
Ruiz, A., Campa, F. J., Roldan-Paraponiaris, C., Altuzarra, O. and Pinto, C., “Experimental validation of the kinematic design of 3-PRS compliant parallel mechanisms,” Mechatronics 39, 77–88 (2016).CrossRefGoogle Scholar
Chen, X., Liu, X., Xie, F. and Sun, T., “A comparison study on motion/Force transmissibility of two typical 3-DOF parallel manipulators: The Sprint Z3 and A3 tool heads,” Int J. Adv. Rob. Syst. 11(1), 1–10 (2014).Google Scholar
Kang, X., Feng, H., Dai, J. S. and Yu, H., “High-order based revelation of bifurcation of novel Schatz-inspired metamorphic mechanisms using screw theory,” Mech. Mach. Theory 152, 103931 (2020).CrossRefGoogle Scholar
Li, Q., Chen, Z., Chen, Q., Wu, C. and Hu, X., “Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements,” Rob. Comput. Integr. Manuf. 27(2), 389–396 (2011).CrossRefGoogle Scholar
Chen, Z., Chen, X., Gao, M., Zhao, C., Zhao, K. and Li, Y., “Motion characteristics analysis of a novel spherical two-degree-of-freedom parallel mechanism,” Chin. J. Mech. Eng. 35(1), 1–9 (2022).CrossRefGoogle Scholar
Khan, S., Andersson, K. and Wikander, J., “Jacobian matrix Normalization - a comparison of different approaches in the context of multi-objective optimization of 6-DOF haptic devices,” J. Intell. Rob. Syst. 79(1), 87–100 (2015).CrossRefGoogle Scholar
Nurahmi, L. and Caro, S., “Dimensionally homogeneous Jacobian and condition number,” Appl. Mech. Mater. 836, 42–47 (2015).CrossRefGoogle Scholar
Cui, G., Liu, J., Hu, Z., Zhang, Y. and Hou, H., “Performance analysis and optimization of a rigid-flexible parallel manipulator,” Proc. Inst. Mech. Part C: J. Mech. Eng. Sci. 234(23), 4620–4635 (2020).CrossRefGoogle Scholar
Guan, Y., Zhang, H., Zhang, X. and Guan, Z., “Workspace generation for multifingered manipulation,” Adv. Rob. 25(18), 2293–2317 (2011).CrossRefGoogle Scholar
Lin, C., Jo, P. and Tseng, C., “New compliance-mechanism design for small companion robots,” J. Intell. Rob. Syst. 64(3-4), 585–601 (2011).CrossRefGoogle Scholar
Li, L., Fang, Y., Yao, J. and Wang, L., “Type synthesis of a family of novel parallel leg mechanisms driven by a 3-DOF drive system,” Mech. Mach. Theory 167, 104572 (2022).CrossRefGoogle Scholar
Miranda, C. S. and Zuben, F., “Necessary and sufficient conditions for surrogate functions of Pareto frontiers and their synthesis using Gaussian processes,” IEEE Trans. Evol. Comput. 21(1), 1–13 (2017).CrossRefGoogle Scholar
Wu, J., Wang, L. and You, Z., “A new method for optimum design of parallel manipulator based on kinematics and dynamics,” Nonlinear Dyn. 61(4), 717–727 (2010).CrossRefGoogle Scholar
De Oliveira, M. C., Delgado, M. R. and Britto, A., “A hybrid greedy indicator- and Pareto-based many-objective evolutionary algorithm,” Int. J. Appl. Intell. 51(7), 4330–4352 (2021).CrossRefGoogle Scholar
Rios, A., Hernandez, E. E. and Valdez, S. I., “A two-stage mono- and multi-objective method for the optimization of general UPS parallel manipulators,” Mathematics 9(5), 1–20 (2021).CrossRefGoogle Scholar