Multi-objective optimal design of a novel 6-DOF spray-painting robot
Jun Wu, Xiaojian Wang, Binbin Zhang, Tian Huang
Abstract
Abstract This paper deals with the multi-objective optimal design of a novel 6-degree of freedom (DOF) hybrid spray-painting robot. Its kinematic model is obtained by dividing it into serial and parallel parts. The dynamic equation is formulated by virtual work principle. A performance index for evaluating the compactness of robot is presented. Taking compactness, motion/force transmissibility, and energy consumption as performance indices, the optimal geometric parameters of the robot are selected in the Pareto-optimal set by constructing a comprehensive performance index. This paper is very useful for the development of the spray-painting robot.
Topics & Concepts
Compact spaceRobotKinematicsComputer scienceTransmissibility (structural dynamics)Set (abstract data type)Energy consumptionMathematicsEngineeringArtificial intelligencePhysicsProgramming languageElectrical engineeringQuantum mechanicsPure mathematicsVibration isolationVibrationClassical mechanicsAdditive Manufacturing and 3D Printing TechnologiesRobotic Mechanisms and DynamicsPlant Surface Properties and Treatments