Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

Abstract

This paper focuses on the design, analysis, and multi-objective optimization of a novel 5-degrees of freedom (DOF) double-driven parallel mechanism. A novel 5-DOF parallel mechanism with two double-driven branch chains is proposed, which can serve as a machine tool. By installing two actuators on one branch chain, the proposed parallel mechanism can achieve 5-DOF of the moving platform with only three branch chains. Afterwards, analytical solution for inverse kinematics is derived. The 5 $\times$ 5 homogeneous Jacobian matrix is obtained by transforming actuator velocities into linear velocities at three points on the moving platform. Meanwhile, the workspace, dexterity, and volume are analyzed based on the kinematic model. Ultimately, a stage-by-stage Pareto optimization method is proposed to solve the multi-objective optimization problem of this parallel mechanism. The optimization results show that the workspace, compactness, and dexterity of this mechanism can be improved efficiently.

Elastodynamic modeling and structural error compensation for a 5-DOF parallel mechanism with subclosed loops

“…Figure 1 shows the 3D model of a self-developed 5-DOF P UU-2 P R R S PKM under investigation. 39 This PKM consists of a base, a moving platform, two P R R S double-driven branch chains I and II, and one P UU branch chain III. The moving platform is connected to the base through three branch chains, among which the P UU branch chain I is a precisely restrained branch chain, and two P R R S branch chains I and II are double-driven branch chains.…”

“…For more design and multi-objective kinematic optimization including workspace volume ratio, compactness and average dexterity ratio of this novel PKM can be find in our previous research. 39…”