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Optimal Design of the Three-Degree-of-Freedom Parallel Manipulator in a Spray-Painting Equipment

Published online by Cambridge University Press:  15 August 2019

Guang Yu ,
Jun Wu Open the ORCID record for Jun Wu [Opens in a new window] ,
Liping Wang  and
Ying Gao
Guang Yu
Affiliation:
Department of Mechanical Engineering, State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, Beijing100084, China. E-mails: gyu@tsinghua.edu.cn, Lpwang@tsinghua.edu.cn, gaoyingxue2011@163.com Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China
Jun Wu*
Affiliation:
Department of Mechanical Engineering, State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, Beijing100084, China. E-mails: gyu@tsinghua.edu.cn, Lpwang@tsinghua.edu.cn, gaoyingxue2011@163.com Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China
Liping Wang
Affiliation:
Department of Mechanical Engineering, State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, Beijing100084, China. E-mails: gyu@tsinghua.edu.cn, Lpwang@tsinghua.edu.cn, gaoyingxue2011@163.com Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China
Ying Gao
Affiliation:
Department of Mechanical Engineering, State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, Beijing100084, China. E-mails: gyu@tsinghua.edu.cn, Lpwang@tsinghua.edu.cn, gaoyingxue2011@163.com Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China
*
*Corresponding author. E-mail: jhwu@mail.tsinghua.edu.cn
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Summary

Spray-painting equipments are important for the automatic spraying of long conical objects such as rocket fairing. This paper proposes a spray-painting equipment that consists of a feed worktable, a gantry frame and two serial–parallel mechanisms and investigates the optimal design of PRR–PRR parallel manipulator in serial–parallel mechanisms. Based on the kinematic model of the parallel manipulator, the conditioning performance, workspace and accuracy performance indices are defined. The dynamic model is derived using virtual work principle and dynamic evaluation index is defined. The conditioning performance, workspace, accuracy performance and dynamic performance are involved in multi-objective optimization design to determine the optimal geometrical parameters of the parallel manipulator. Furthermore, the geometrical parameters of the gantry frame are optimized. An example is given to show how to determine these parameters by taking a long object with conical surface as painted object.

Keywords

Dynamic performanceGenetic algorithmMulti-objective optimizationParallel manipulatorWorkspace
Type
Articles
Information
Robotica , Volume 38 , Issue 6 , June 2020 , pp. 1064 - 1081
Copyright
© Cambridge University Press 2019

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