This paper proposes a redundantly actuated parallel manipulator 4-UPS-S that is applicable for orientation adjustment in the\ngathering process of solar power. A thorough analysis involving the kinematic issues is performed. Inverse kinematic problems\nare solved in the close-loop. The Jacobian matrix and some performance indexes are analytically derived. The multiobjective\noptimization model is established, and the determinacy optimization is completed on the basis of previous research works. Six-\nSigma robust analysis is performed on the basis of the determinacy optimal solution. Results show that 4-UPS-S does not satisfy\nthe quality requirement. Therefore, it is necessary to implement Six-Sigma robust optimization, and select optimial solution of\nrobustness to complete the nondeterminacy optimization.The research results show that the proposed methodology has a simple\noperation and high optimization efficiency. The methodology commodiously obtains robustness parallel manipulator that satisfies\nthe quality requirement.
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