Performance based design optimization of an intrinsically compliant 6-dof parallel robot
Jamwal P.K. Kapsalyamov A. Hussain S. Ghayesh M.H.
2022Taylor and Francis Ltd.
Mechanics Based Design of Structures and Machines
2022#50Issue 41237 - 1252 pp.
Parallel robots are preferred over serial robots owing to their enhanced accuracy and rigidity which comes from their higher stiffness. However, there are applications both in industry and in healthcare where higher accuracy is required alongside high compliance (reduced stiffness). Accuracy and compliance being conflicting to each other are difficult to achieve simultaneously. To address this issue, an intrinsically compliant 6-dof parallel robot is proposed in this work. Kinematic and analytical modeling is performed for its conceptual design to obtain the Jacobian matrix and thereby map the joint and Cartesian spaces. Robot’s structure design is analyzed, and the wrench analysis is also carried out to estimate the link forces and stiffness. It is shown that by small changes in the proposed robot design; its compliance can be altered making it suitable for a range of applications. It is also shown mathematically that the robot design can be optimized to maintain higher accuracy together with higher compliance. To carry out design optimization, three important performance criteria, namely; global condition number (for higher accuracies), norm of link forces (to reduce actuator power requirement) and robot compliance (for response to an external wrench) are mathematically formulated. Later, a multi-criteria optimization is performed using an evolutionary algorithm to simultaneously optimize these performance criteria. From the final robot design selected, it is evident that a higher robot compliance with optimal condition number and link forces can be achieved.
Condition number , design optimization , Jacobian analysis , non-dominated sorting genetic algorithm , parallel robot , robot compliance
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Department of Electrical and Computer Engineering, Nazarbayev University, Astana, Kazakhstan
ReLive Research LLP, Astana, Kazakhstan
Human-Centred Technology Research Center, Faculty of Science and Technology, University of Canberra, Canberra, ACT, Australia
School of Mechanical Engineering, University of Adelaide, Adelaide, SA, Australia
Department of Electrical and Computer Engineering
ReLive Research LLP
Human-Centred Technology Research Center
School of Mechanical Engineering
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