Paper Title:
Optimization Design of Planar Five-Bar Parallel Robot's Bar Length
  Abstract

The target movement range of planar five-bar parallel robot is decided by the length of each bar and swinging angle. In general designs are bound by the single-objective optimization. Scope of the overall movement is considered as the goal of optimization. Although this method may seek all the possible movement scope completely, but has actually neglected the restraint of mechanical hinge structure. To determine the length in this way there are interference and stuck phenomenon. To address this issue in this paper the bounds of mechanical structure are added in. A new set of optimization algorithms is established. Analytical method is used to establish the algorithm of planar five-bar parallel robot’s positive solution. Then MATLAB is used to obtain the positive solutions of target movement range. Generally under unconstrained circumstances, we found that there are two positive solutions and mutual symmetry on the x-axis. After adding in the restriction of swinging angle, we succeed in finding the optimal solutions. Finally we use an example to explain how it works. MATLAB is used to determine the length of each bar and found a 200 x 150 mm of the target movement range. Through the diagram has been plotted by MATLAB, we find that the second solution is the optimal solution. This method can be used to optimize the length of planar five-bar parallel robot.

  Info
Periodical
Key Engineering Materials (Volumes 392-394)
Edited by
Guanglin Wang, Huifeng Wang and Jun Liu
Pages
996-1000
DOI
10.4028/www.scientific.net/KEM.392-394.996
Citation
N. J. Wang, C. Liang, P. Shi, "Optimization Design of Planar Five-Bar Parallel Robot's Bar Length", Key Engineering Materials, Vols. 392-394, pp. 996-1000, 2009
Online since
October 2008
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Wen Chen, Rong Chun Guo
Abstract:The integral steering linkage is the key part on vehicle, which can ensure the Ackerman steer angle when steering. in this paper, The...
779
Authors: Ji Yan Wang, Tian Xu, Zheng Yin Ni
Chapter 1: Mechatronics
Abstract:2D rotary robotic manipulator is an ordinary mechanical structure of industrial robot. PD control is an ever-developing method for the...
999
Authors: Ji Yan Wang, Yu Xia Zhuang
Chapter 3: Measuring Technology and Mechatronics
Abstract:For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A PD robust...
1540
Authors: Xiu Fen Xu
Chapter 1: Mechanical Engineering
Abstract:Using the vector method of shaping the transmission mechanism undertook an analysis, established the kinematics model. Application of MATLAB/...
391
Authors: De Xue Bi, Chao Zhuo Guo, Xu Man Zhang
Chapter 2: Manufacturing and Control Systems, Industry Application
Abstract:This paper presents a new design approach of parallel robot for quick grasp based on parallelogram mechanism,and derives the dynamics model....
448