Performance Analysis and Optimization of A Novel 5-DOF Hybrid Robot

摘要

The performance analysis and optimization of a hybrid robot, to maximize its speed, the natural frequency and the static stiffness is the subject of this paper. Based on delta robot, a hybrid robot with 5 degrees of freedom(DOFs) is proposed. Its performance parameters are subjected to the dimension of the hybrid robot. The speed is calculated by the kinematics. The static stiffness analysis and model analysis are done to match the performance parameters with the structure. As to the optimization of the robot, the optimization goals are speed, natural frequency and static stiffness. The design parameters are robot dimensions. It is a multi-objective problem. The multi-objective optimization is transferred into single-objective optimization by assigning a weight to each objective function. Finally, two solutions of the design parameters are represented in this paper.