Optimal design of a parallel assembling robot with large payload-to-mass ratio |
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| Affiliation: | 1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China, 300350;2. School of Mechanical Engineering, Tianjin University, Tianjin, China, 300350;3. Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology, Tianjin, China, 300301;4. School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin, China, 300350;1. State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;2. Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing 100084, China;1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;2. Department of Advanced Manufacturing, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China;1. State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China;2. Wuhu Robot Industry Technology Research Institute, Harbin Institute of Technology, Wuhu 241000, China;1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China;2. AVIC Manufacturing Technology Institute, Beijing 100024, China;3. School of Mechanical Engineering, Northwestern Polytechnical University, Xi''an 710072, China |
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| Abstract: | Assembly in a confined space, such as the cabin of an aircraft or train, demands the assembling device to be with compact structure, satisfactory kinematics and excellent load carrying capability. A six degree-of-freedom (DoF) parallel robot is proposed and designed for such assembling tasks in this paper. Specially, internal structure changes introduced by topology optimization are considered and the multi-objective optimization reaching large load-to-mass ratio is implemented. First, external dimensions of the base and the ratio of the remaining volume to the complete volume are the inputs. Once a set of input variables are given, the topology optimization will be performed by FEA software to form the structure of the base. The stiffness and mass of the base, being the outputs, are obtained numerically by software. Then, the meta models are established by the response surface model (RSM) method. On this basis, stiffness and mass models of the robot are built by the semi-analytical method. The optimal design is implemented by Pareto-based multi-objective optimization. Different arrangements of the objectives are compared. The results show that kinematic indices on the Pareto fronts are all at a satisfactory level. The optimization having payload-to-mass ratio as objective leads to the optimum with higher stiffness along z-axis and smaller mass. The design 6-DoF parallel assembly robot can carry up to 42.06 kg loads while the mass is only 12.002 kg. |
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