In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using Genetic Algorithms. It is concluded that the optimal design method is useful for the design of a six degree of freedom micro parallel robot.

No abstract

No abstract

Mechatronics consists in integration of three fields in engineering: mechanics, electronics and information technology. The paradigm of mechatronics is the integration concept, being the first step in the design of complex mechatronic systems. The need for an integrated approach to the design of complex engineering system involving electronic engineering, mechanical engineering and computing has led to the growth of the concept of mechatronics. The paper presents details regarding the integration process for the kinematic axis in mechatronic. The example of the positioning system based on dc motor and screw-nut transmission is analysed. This actuator is further used for driving a 2 DOF PRRRP parallel robot.

No abstract