A new hierarchical approach for the optimal design of a 5-dof hybrid serial-parallel kinematic machine

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, paper proposes a new hierarchical optimal approach for 5 degree-of-freedom hybrid serial-parallel machine. Considering application requirements in high speed machining, global index, dynamic elastodynamic index as well stiffness introduced considered objective functions. Taking extension ratio rotation angles constraint conditions, is developed through optimization procedure. Results demonstrated that proposed enables robot to achieve good kinematic, performance simultaneously can be applied other PKMs machining.