An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot

Zhendong Song; Hailin Huang; Xiaojun Yang; Bing Li

doi:10.1109/ICInfA.2017.8078973

An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot

Zhendong Song
, Hailin Huang
, Xiaojun Yang
, Bing Li^*

^*Corresponding author for this work

School of Robotics and Advanced Manufacture

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

A clearance effect evaluation index system is presented in this paper. Based on the clearance effect evaluation index system and cost processing models, an integrated optimization method for mechanisms with clearance joints is proposed. As a case study, a planar 3-RRR parallel robot with clearance joints is investigated. On the basis of the optimization results, a prototype is designed and manufactured. Furthermore, an experimental system is established through building a data acquisition and analysis system and a control system.

Original language	English
Title of host publication	2017 IEEE International Conference on Information and Automation, ICIA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	569-573
Number of pages	5
ISBN (Electronic)	9781538631546
DOIs	https://doi.org/10.1109/ICInfA.2017.8078973
State	Published - 20 Oct 2017
Event	2017 IEEE International Conference on Information and Automation, ICIA 2017 - Macau, China Duration: 18 Jul 2017 → 20 Jul 2017

Publication series

Name	2017 IEEE International Conference on Information and Automation, ICIA 2017

Conference

Conference	2017 IEEE International Conference on Information and Automation, ICIA 2017
Country/Territory	China
City	Macau
Period	18/07/17 → 20/07/17

Keywords

3-RRR parallel robot
Clearance allocation
Integrated optimization

Access to Document

10.1109/ICInfA.2017.8078973

Cite this

Song, Z., Huang, H., Yang, X., & Li, B. (2017). An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot. In 2017 IEEE International Conference on Information and Automation, ICIA 2017 (pp. 569-573). Article 8078973 (2017 IEEE International Conference on Information and Automation, ICIA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2017.8078973

Song, Zhendong ; Huang, Hailin ; Yang, Xiaojun et al. / An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot. 2017 IEEE International Conference on Information and Automation, ICIA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 569-573 (2017 IEEE International Conference on Information and Automation, ICIA 2017).

@inproceedings{3acae785a42a4c6a9ba3f2964374271c,

title = "An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot",

abstract = "A clearance effect evaluation index system is presented in this paper. Based on the clearance effect evaluation index system and cost processing models, an integrated optimization method for mechanisms with clearance joints is proposed. As a case study, a planar 3-RRR parallel robot with clearance joints is investigated. On the basis of the optimization results, a prototype is designed and manufactured. Furthermore, an experimental system is established through building a data acquisition and analysis system and a control system.",

keywords = "3-RRR parallel robot, Clearance allocation, Integrated optimization",

author = "Zhendong Song and Hailin Huang and Xiaojun Yang and Bing Li",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Information and Automation, ICIA 2017 ; Conference date: 18-07-2017 Through 20-07-2017",

year = "2017",

month = oct,

day = "20",

doi = "10.1109/ICInfA.2017.8078973",

language = "英语",

series = "2017 IEEE International Conference on Information and Automation, ICIA 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "569--573",

booktitle = "2017 IEEE International Conference on Information and Automation, ICIA 2017",

address = "美国",

}

Song, Z, Huang, H, Yang, X & Li, B 2017, An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot. in 2017 IEEE International Conference on Information and Automation, ICIA 2017., 8078973, 2017 IEEE International Conference on Information and Automation, ICIA 2017, Institute of Electrical and Electronics Engineers Inc., pp. 569-573, 2017 IEEE International Conference on Information and Automation, ICIA 2017, Macau, China, 18/07/17. https://doi.org/10.1109/ICInfA.2017.8078973

An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot. / Song, Zhendong; Huang, Hailin; Yang, Xiaojun et al.
2017 IEEE International Conference on Information and Automation, ICIA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 569-573 8078973 (2017 IEEE International Conference on Information and Automation, ICIA 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot

AU - Song, Zhendong

AU - Huang, Hailin

AU - Yang, Xiaojun

AU - Li, Bing

PY - 2017/10/20

Y1 - 2017/10/20

N2 - A clearance effect evaluation index system is presented in this paper. Based on the clearance effect evaluation index system and cost processing models, an integrated optimization method for mechanisms with clearance joints is proposed. As a case study, a planar 3-RRR parallel robot with clearance joints is investigated. On the basis of the optimization results, a prototype is designed and manufactured. Furthermore, an experimental system is established through building a data acquisition and analysis system and a control system.

AB - A clearance effect evaluation index system is presented in this paper. Based on the clearance effect evaluation index system and cost processing models, an integrated optimization method for mechanisms with clearance joints is proposed. As a case study, a planar 3-RRR parallel robot with clearance joints is investigated. On the basis of the optimization results, a prototype is designed and manufactured. Furthermore, an experimental system is established through building a data acquisition and analysis system and a control system.

KW - 3-RRR parallel robot

KW - Clearance allocation

KW - Integrated optimization

UR - https://www.scopus.com/pages/publications/85039928930

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DO - 10.1109/ICInfA.2017.8078973

M3 - 会议稿件

AN - SCOPUS:85039928930

T3 - 2017 IEEE International Conference on Information and Automation, ICIA 2017

SP - 569

EP - 573

BT - 2017 IEEE International Conference on Information and Automation, ICIA 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Information and Automation, ICIA 2017

Y2 - 18 July 2017 through 20 July 2017

ER -

Song Z, Huang H, Yang X, Li B. An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot. In 2017 IEEE International Conference on Information and Automation, ICIA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 569-573. 8078973. (2017 IEEE International Conference on Information and Automation, ICIA 2017). doi: 10.1109/ICInfA.2017.8078973

An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot

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