文章基本信息

标题：Optimal Planar 3RRR Robot Assembly Mode and Actuation Scheme for Machining Applications
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作者：Dmitry Popov ; Alexandr Klimchik
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：11
页码：734-739
DOI：10.1016/j.ifacol.2018.08.406
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a comparison of the different planar 3RRR robot for machining application. The performance evaluation of different assembly modes and actuation schemas is based on the deflection estimation for the specific task, which is presented by round, square, rectangular and total target areas in the robot workspace. For deflections calculation the Virtual Joint Modeling method for parallel robots with passive joints is used. Optimal robot size parameters are obtained by means of genetic algorithms that according to the chosen performance indicators maximizes manipulator workspace that satisfies target accuracy level under the external forces applied to the end-effector. The obtained results are quite general and can be applied for any planar 3RRR robot since they were obtained for normalized parameters.
关键词：KeywordsParallel robotStiffnessOptimal designGenetic algorithms