Performance analysis and optimization of 6-DOF Hunt type parallel robot

Subject Areas : Journal of New Applied and Computational Findings in Mechanical Systems

erfan mirshekari ¹ , َAfshin Ghanbarzadeh ²

1 - Department of Mechanical engineering, ahvaz branch, islamic azad university
2 - Department of Mechanical Engineering, Faculty of Engineering, Shahid Chamran University of Ahvaz, Iran

Received: 2021-12-18 Accepted : 2021-12-21 Published : 2021-11-22

Keywords: Hunt type parallel robot, pareto frontier, performance index, multi objective optimization,

Abstract :

In this research, Hunt type 6-DOF parallel robot is optimized based on kinetostatic performance indices and the effect of geometrical parameters on these indices is investigated. For this purpose, structural and geometrical parameters of Hunt type parallel robot are introduced. in order to determine the relationship between joint angle values and end effector coordinates, inverse kinematic is obtained. Jacobian matrix is developed to map velocity from joint space to Cartesian space. Manipulability, force manipulability and condition number are considered as indices to evaluate the robot performance. By defining the fitness functions, constraints and boundaries of geometric parameters, the optimized parallel robot structure is obtained using the multi-objective bees algorithm. A set of robot geometric parameters is presented, each of which has the best performance based on one of the indices. Also, a robot with specific geometric parameters is selected, which is suitable based on almost all performance indices. Finally, the effect of end effector movement on robot performance is investigated.

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