Liu, Songtao, Huang, Tian, Mei, Jiangping, Zhao, Xueman, Wang, Panfeng and Chetwynd, D. G. (2012) Optimal design of a 4-DOF SCARA type parallel robot using dynamic performance indices and angular constraints. Journal of Mechanisms and Robotics, 4 (3). 031005. doi:10.1115/1.4006743 ISSN 1942-4302.

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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.

Item Type:	Journal Article
Divisions:	Faculty of Science, Engineering and Medicine > Engineering > Engineering
Journal or Publication Title:	Journal of Mechanisms and Robotics
Publisher:	ASME
ISSN:	1942-4302
Official Date:	2012
Dates:	Date Event 2012 Published
Volume:	4
Number:	3
Page Range:	031005
DOI:	10.1115/1.4006743
Status:	Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access

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