.6-dof Hybrid Chain Robot Global Performance Analysis And Optimization Study

Recently the development of hybrid-chain robot manipulator has become a hot topic inthe robotics research field, so that the optimization and analysis of the kinematics anddynamic global performance of the 6-DOF hybrid-chain robot mechanism have becomevery important and meaningful for the robotics study and its application.The mechanism characteristics of the 6-DOF hybrid robot manipulator are analyzed;also the pictures of the workspace boundary surface and the whole workspace are drawn byusing MATLAB software based on the previous research results in this paper. Kanedynamic equations are established based on the screw theory for the 6-DOF hybrid-chainrobot manipulator. According to the first order and the second order influence coefficientmatrices, the new global performance indices such as velocity and acceleration as well asforce and torque global performance indices are presented, especially the dynamicfluctuation performance index, then, the diagrams of each performance index are drawn up.In order to determine the range of the mechanism dimension parameters which have betterperformance, the global performance indices of the angular acceleration and force as wellas torque are systematically analyzed. According to the results analyzed above, thecross-section area of workspace and the sum of link lengths are taken as comprehensiveobjective functions, link lengths are selected as design variables, then by using geneticalgorithm toolbox of MATLAB software, the optimal design of the dimension parametersare acquired, a new group of the robot mechanism dimension parameters have beenobtained.Finally, the optimized result is taken as the new geometrical dimension parameters ofthe manipulator, then the global performance indices of angular acceleration and force aswell as torque are analyzed and the new workspace is derived from the optimum design.The feasibility of the optimum design and the correctness of the result have been proved.In conclusion, the hybrid-chain robot manipulator which has better global performanceand wider workspace has been derived this paper.