SUMMARYThe optimum selection of a structure for a given application is a capital phase in typological synthesis of parallel robots. To help in this selection, this paper presents a performance evaluation of four translational parallel robots: Delta, 3-UPU, Romdhane-Affi-Fayet, and Tri-pyramid (TP). The problem is set as a multiobjective optimization using genetic algorithm methods, which uses kinematic criteria, that is, global dexterity and compactness, to ensure a prescribed workspace. The results are presented as Pareto fronts, which are used to compare the performances of the aforementioned structures. The obtained results show that the TP robot has the best kinematic performance, whereas the 3-UPU robot is the most compact for a given prescribed workspace.

中文翻译：

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四台平移并联机械臂的尺寸合成与性能评价

总结对于给定应用的结构的最佳选择是并联机器人类型综合的资本阶段。为了帮助进行此选择，本文介绍了四个平移并行机器人的性能评估：Delta、3-UPU、Romdhane-Affi-Fayet 和 Tri-pyramid (TP)。该问题被设置为使用遗传算法方法的多目标优化，该方法使用运动学标准，即全局灵巧性和紧凑性，以确保规定的工作空间。结果显示为帕累托前沿，用于比较上述结构的性能。获得的结果表明，TP 机器人具有最佳的运动学性能，而 3-UPU 机器人对于给定的规定工作空间是最紧凑的。