This paper deals with the multi-objective optimal design of a novel 6-degree of freedom (DOF) hybrid spray-painting robot. Its kinematic model is obtained by dividing it into serial and parallel parts. The dynamic equation is formulated by virtual work principle. A performance index for evaluating the compactness of robot is presented. Taking compactness, motion/force transmissibility, and energy consumption as performance indices, the optimal geometric parameters of the robot are selected in the Pareto-optimal set by constructing a comprehensive performance index. This paper is very useful for the development of the spray-painting robot.

中文翻译：

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新型六自由度喷涂机器人多目标优化设计

本文研究了一种新型 6 自由度 (DOF) 混合喷涂机器人的多目标优化设计。它的运动学模型是通过将其分为串行和并行部分来获得的。动力学方程由虚功原理表示。提出了评价机器人紧凑性的性能指标。以紧凑性、运动/力传递性和能量消耗为性能指标，通过构建综合性能指标，在帕累托最优集中选择机器人的最优几何参数。本文对喷漆机器人的开发很有帮助。