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Stiffness modeling and optimization of a 3-DOF parallel robot in a serial-parallel polishing machine

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Abstract

Polishing is a kind of finishing process that can effectively reduce the surface defects and improve the form accuracy. This paper presents a novel hybrid machine with 6 degrees of freedom (DOF) serial-parallel topological structure used as an ultra-precision polishing equipment which is composed of a 3-DOF parallel robot, a 2-DOF serial robot and a turntable providing a redundant DOF. Due to the complexity of structure, stiffness performance evaluation of the parallel robot becomes a challenge. As a result, a theoretical model of the parallel robot based on the virtual work principle and the deformation superposition principle is formulated for analyzing the stiffness performance. With the developed model, a multi-objective dimensional optimization method is developed to maximize both the workspace volume and the global stiffness performance of the parallel robot. Artificial intelligence approach based on genetic algorithms is implemented to obtain an optimal combination of structural parameters. The effectiveness of this method is validated by simulation and the parallel robot with optimized structural parameters has a workspace with higher stiffness performance, hence justifies its suitability for high precision polishing.

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Shenzhen Graduate School, Harbin Institute of Technology, Xili, Nanshan, Shenzhen, 518055, China

    Peng Xu, Bing Li & Ju-Fan Zhang

  2. Partner State Key Laboratory of Ultra-Precision Machining Technology, Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, 999077, China

    Peng Xu & Chi-Fai Cheung

Authors
  1. Peng Xu
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  2. Bing Li
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  3. Chi-Fai Cheung
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  4. Ju-Fan Zhang
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Correspondence to Bing Li.

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Xu, P., Li, B., Cheung, CF. et al. Stiffness modeling and optimization of a 3-DOF parallel robot in a serial-parallel polishing machine. Int. J. Precis. Eng. Manuf. 18, 497–507 (2017). https://doi.org/10.1007/s12541-017-0060-1

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  • DOI: https://doi.org/10.1007/s12541-017-0060-1

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