LAUSR

Abstract Parallel kinematic machines are highly nonlinear and strongly coupled systems, which makes the driving-structural-dimensional parameters integrated design extremely difficult. To solve this problem, this paper proposes a new hierarchical optimal approach for a 5 degree-of-freedom hybrid serial-parallel kinematic machine. Considering application requirements in high speed machining, a global kinematic index, a global dynamic index, a global elastodynamic index as well as a global stiffness index are introduced and considered as objective functions. Taking the extension ratio and rotation angles as constraint conditions, optimal design is developed through a hierarchical optimization procedure. Results demonstrated that the proposed approach enables the robot to achieve good kinematic, dynamic and stiffness performance simultaneously and can be applied to other PKMs for machining.