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Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Received: 7 April 2019 Accepted: 21 July 2019 This paper proposes a novel 3T2R labelling robot with hybrid mechanism for the end-faces of round steels. The hybrid mechanism consists of a three degrees-of-freedom (DOFs) translation (3T) parallel mechanism and a two DOFs rotation (2R) mechanism. Based on the Jacobian matrix of the hybrid mechanism, the author analyzed the influence of each dimension parameter on three performance indices, namely, kinematics, transmission and stiffness of the mechanism, under the constraints of the workspace. Based on the Pareto frontier approach, the Non-dominated Sorting Genetic Algorithm II (NSGA-II) was adopted to find the optimal values of the three performance indices, and identify the dimension parameters that bring the best overall performance of the whole mechanism. The research results shed new light on the design of light weight labelling robot.