 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 13653 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8223
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| In English (Mech. Solids): | | 5430 |
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| Xiao Sun, Dong Liang, Boyan Chang, Haohao Shi, and Junpeng Zhang, "Multi-Objective Optimization for a Novel Parallel Robot with Multiple Actuation Modes," Mech. Solids. 60 (8), 6929-6950 (2025) |
| Year |
2025 |
Volume |
60 |
Number |
8 |
Pages |
6929-6950 |
| DOI |
10.1134/S0025654425605282 |
| Title |
Multi-Objective Optimization for a Novel Parallel Robot with Multiple Actuation Modes |
| Author(s) |
Xiao Sun (School of Mechanical Engineering, Tiangong University, Tianjin, 300387 China)
Dong Liang (School of Mechanical Engineering, Tiangong University, Tianjin, 300387 China; Tianjin Key Laboratory of Modern Electromechanical Equipment Technology, Tiangong University, Tianjin, 300387 China, dongliang@tiangong.edu.cn)
Boyan Chang (School of Mechanical Engineering, Tiangong University, Tianjin, 300387 China; Tianjin Key Laboratory of Modern Electromechanical Equipment Technology, Tiangong University, Tianjin, 300387 China)
Haohao Shi (School of Aeronautics and Astronautics, Tiangong University, Tianjin, 300387 China)
Junpeng Zhang (School of Mechanical Engineering, Tiangong University, Tianjin, 300387 China) |
| Abstract |
To address the complex requirements of multi-scenario and multi-working-condition in
electronic packaging and precision manufacturing, it is imperative to develop automated equipment
with strong environmental adaptability and high operational stability. In response, this paper investigates and designs a novel parallel robot with multiple actuation modes. Firstly, based on existing configurations, we innovatively developed a novel parallel robot featuring eight actuation modes by introducing parallelogram auxiliary branches. A systematic analysis of its kinematic characteristics is conducted: inverse kinematic solutions for multiple actuation modes are obtained through the combined
application of the projection method and the closed-loop vector method. Based on differential kinematics principles, the velocity Jacobian matrix is derived to establish the transmission relationship
model between the end-effector output and input under various actuation modes. Secondly, the performance indices for dexterity, velocity, and stiffness are defined, and a multi-objective coupled optimization mathematical model that considers multiple actuation modes is established. The genetic
algorithm is adopted for multi-objective parameter optimization, and finally a design solution set
meeting comprehensive performance requirement is obtained. The motion performance of the optimized robot under multiple actuation modes is analyzed, which proves that the optimized robot possesses balanced comprehensive motion performance within the task workspace. Based on the optimization results, key components of this novel multi-actuation-mode parallel robot are designed and
manufactured, leading to the construction of a physical prototype platform. Motion performance tests
are conducted to validate the rationality of the robotic mechanism design, laying the foundation for
subsequent research on multiple actuation modes control strategies. |
| Keywords |
Parallel robot, multiple actuation modes, kinematic analysis, multi-objective optimization, prototype development |
| Received |
24 September 2025 | Revised |
18 November 2025 | Accepted |
21 November 2025 |
| Link to Fulltext |
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