An approach for optimal dimensional synthesis of a 5R parallel robot for a CNC X-Y cutter
Miguel Díaz-Rodríguez- Octavio Andrés González-Estrada
Published 2017-05-17
Keywords
- Parallel robot,
- genetic algorithm,
- optimization,
- dexterity
How to Cite
Abstract
Planar robots can perform industrial tasks such as CNC X-Y cutter. Among them, the 5R two-degrees-of-freedom (2-DoF) planar parallel robot can become a useful conceptual design. Parallel robots are made of several closed kinematic chains, which gives them a structure enabling to bear more payload. These robots present the advantages of better load/size capacity, speed, rigidity and precision, while their main drawback is the limited workspace. The paper aim to design the 5R-2DoF parallel robot so that its reachable workspace will be maximum and also with optimal dexterity. In this sense, we take advantage of the Genetic Algorithms (GA) in order to develop an approach for optimal design of the robot. The paper shows a path to follow to design the robot taking into account a maximum workspace with dexterity. We present two study cases to test the performance of the proposed approach.
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References
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