Parameter Optimization for the Driving System of a 5-DoF Parallel Machining Robot with Planar Kinematic Chains

[+] Author and Article Information
Zenghui Xie

Qinghua Yuan No. 1 Beijing, haidian 100084 China xiezh1993@163.com

Fugui Xie

Tsinghua Yuan No.1 Beijing, 100084 China xiefg@mail.tsinghua.edu.cn

Xin-Jun Liu

Tsinghua Yuan No.1 Beijing, 100084 China xinjunliu@mail.tsinghua.edu.cn

Jinsong Wang

Tsinghua University Beijing, 100084 China xjl_pbm@aliyun.com

Xu Shen

Department of Mechanical Engineering, University of California at Berkeley Berkeley, CA 94701 x-che14@tsinghua.org.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received November 19, 2018; final manuscript received March 8, 2019; published online xx xx, xxxx. Assoc. Editor: Raffaele Di Gregorio.

ASME doi:10.1115/1.4043291 History: Received November 19, 2018; Accepted March 15, 2019


Driving system parameter optimization (DSPO) is an important approach to improve robots' dynamic performance. To achieve better dynamic performance, motors with high power and cost are generally used. But this leads to a waste of resources. It is difficult to simultaneously make the robots satisfy the prescribed performance requirements and avoid over conservative design though DSPO. This issue is much more challenging for machining robots with parallel kinematics, due to the coupling characteristics of the closed kinematic chains. In this paper, a 5-DoF parallel machining robot with planar kinematic chains is presented, and its dynamic model is established based on virtual work principle. Then, a universal DSPO method is proposed by comprehensively considering the classical machining trajectories that can reflect the performance requirements for 5-DoF machining robots. Combined with motor selection criterions, the feasible motor and usable reduction ratio range are derived. In order to optimize the reduction ratio, a dynamic index is proposed based on the variance degree of the motor output torque to evaluate the operational stability of driving system. On this basis, the optimal reduction ratio can be obtained by minimizing the dynamic index to improve the operational stability of machining robots. Based on the proposed method, the DSPO for the 5-DoF parallel machining robot is carried out, and the optimal combinations of sever motors and ball screws are generated. The proposed method can be used for the DSPO of other 5-DoF parallel machining robots.

Copyright © 2019 by ASME
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In