Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links

• Published in: IEEE access Vol. 9; pp. 17450 - 17462
• Main Authors: Cervantes-Culebro, Hector, Chong-Quero, Jesus Enrique, Padilla-Garcia, Erick Axel, Cruz-Villar, Carlos Alberto
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Boundary conditions; Control-structure design; differential evolution; Energy consumption; Evolutionary algorithms; Evolutionary computation; High speed; Independent variables; Indexes; Links; Mass balance; Mathematical model; Multiple objective analysis; Optimization; Parallel robots; Parameter modification; Pick and place tasks; planar parallel robot; Proportional integral derivative; Robots; Strain; Task analysis; Vibrations
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2021.3053250

In this article, the concurrent optimal design of a planar five-bar parallel robot for a high-speed pick and place task is considered. A trade-off between trajectory tracking, energy consumption and deformation of the flexible links is sought. Due to the high-speed operation, the minimization of the vibratory effect is considered since the design stage. Thus, the design is stated as a non-linear multi-objective dynamic optimization problem that is solved through the Differential Evolution (DE) algorithm, as well as, feasibility rules for constraints handling. Mechanical structural variables that modify the inertial parameters of the rigid and flexible links, as well as, control variables related to gains of a PID controller are considered as independent variables. This problem is subject to maximum torque that each motor could provide; inherent constraints for link manufacture; dimensional synthesis; Grashof's criterion and initial and boundary conditions. Results show that it is possible, despite the vibrational phenomenon, to reduce the energy consumption without loss of precision through an appropriate mass balance of the actuated links.