Architecture optimization of a parallel Schönflies-motion robot for pick-and-place applications in a predefined workspace

This paper deals with the architecture optimization of a parallel Schönflies-motion robot admitting a rectangular workspace, which allows to utilize the shop-floor space efficiently for flexible pick-and-place applications. In this work, parametric models including the transmission quality, elasto-statics and dynamics are established and further used in the integrated architectural design optimization. By taking the design requirements and pick-and-place trajectory into consideration, the kinematic and dynamic performances of the robot are optimized with prescribed workspace based on a multi-objective optimization approach. The Pareto-front is obtained, which provides optimal solutions to the robot design. Robot prototyping work based on the optimal results is described.