Kinematics, dynamics and multi-objective optimization based on singularity-free task workspace for a novel SCARA parallel manipulator

Oriented by the demands on high-speed and large-load picking up/handling in textile, electronics and other industries, a novel parallel manipulator (PM) achieving SCARA motion was designed. First, the mobility of the PM was obtained by dual space theory. Thereafter, the kinematic model was deduced in detail, and a dynamics model was developed using the Lagrangian formulation. The validity of the above models was verified by ADAMS software. Furthermore, the singularity existing in the workspace was analyzed. Subsequently, a homogeneous Jacobian matrix was constructed by the characteristic length factor, based on which dexterity index was defined. Aiming at the optimal performance in the singularity-free task workspace, a dimensional synthesis model incorporating kinematics and dynamics performance is proposed, which is efficiently tackled by differential evolution (DE) algorithm. The obtained result provides a sound foundation for the development of an engineering prototype.