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

中文翻译：

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一种新的五自由度混合串并联运动机优化设计的分层方法

摘要 并联运动机是一种高度非线性、强耦合的系统，这使得驱动-结构-尺寸参数的集成设计变得极为困难。为了解决这个问题，本文提出了一种新的5自由度混合串并联运动机的分层优化方法。考虑在高速加工中的应用需求，引入全局运动学指标、全局动态指标、全局弹动力指标以及全局刚度指标作为目标函数。以拉伸比和旋转角度为约束条件，通过分层优化程序进行优化设计。结果表明，所提出的方法使机器人能够实现良好的运动学，