Abstract
A high speed/high accuracy robot is proposed, two permanent, linear, DC servomotors drive a 2-DOF planar parallel mechanism. In the design of the planar parallel mechanism, impacted structure and restraining vibration are considered, separately simulated annealing algorithm and finite element dynamical simulation to optimize geometrical dimension and section parameters are adopted. A solution generate engine is presented based on characteristics of the optimization model. Experimental results validate that the planar parallel mechanism being optimized has high stiffness, residual vibration is lower than l μm in high speed motion, and the robot's steady time is decided by linear motors.
| Original language | English |
|---|---|
| Pages (from-to) | 277-280 |
| Number of pages | 4 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 36 |
| Issue number | 3 |
| State | Published - Mar 2004 |
| Externally published | Yes |
Keywords
- Optimization
- Planar parallel
- Robot
- Simulated annealing
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