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Multi-objective optimal design of a novel 6-DOF spray-painting robot

Published online by Cambridge University Press:  19 April 2021

Jun Wu Open the ORCID record for Jun Wu [Opens in a new window] ,
Xiaojian Wang ,
Binbin Zhang  and
Tian Huang
Jun Wu*
Affiliation:
State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing 100084, China
Xiaojian Wang
Affiliation:
State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing 100084, China
Binbin Zhang
Affiliation:
State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing 100084, China
Tian Huang
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354, China School of Engineering, University of Warwick, Coventry CV4 7AL, UK
*
*Corresponding author. Email: jhwu@mail.tsinghua.edu.cn
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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.

Keywords

Hybrid robotPerformance evaluationCompactnessMotion/force transmissibilityEnergy consumptionMulti-objective optimization
Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2268 - 2282
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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