Abstract: The dynamic dimensional synthesis of a novel 4-DOF SCARA type high-speed parallel robot is investigated. In the light of the principle of changeable rhombus, the mechanical design of the articulated traveling plate for generating the rotation about z axis is briefly described in the first place. This is followed by defining two pressure angles representing the transmissibilities within and amongst limbs, and developing two dynamic performance indices represented by the maximum driving torque of a single drive. Subject to the prescribed transmission angles in conjunction with various geometrical constraints in terms of workspace/machine volume ratio and assembly conditions, an optimization problem is then formulated by minimizing the dynamic performance indices for achieving good kinematic as well as dynamic performance throughout the entire workspace. The servomotor specifications are estimated using the extended Adept cycle.

Key words: high-speed parallel robot;dynamic performance;dimensional synthesis