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Workspace orientated optimization design of serial-parallel robotic collaborative system

Published online by Cambridge University Press:  10 December 2025

Fanwei Ye Open the ORCID record for Fanwei Ye [Opens in a new window] ,
Xuechao Duan ,
Tao Zha ,
Jun Liu ,
Xiangfei Meng  and
Guodong Tan
Fanwei Ye
Affiliation:
Laboratory of Electromechanical Coupling in Electronic Equipment, Xidian University, Xi’an, China
Xuechao Duan*
Affiliation:
Laboratory of Electromechanical Coupling in Electronic Equipment, Xidian University, Xi’an, China
Tao Zha
Affiliation:
Laboratory of Electromechanical Coupling in Electronic Equipment, Xidian University, Xi’an, China
Jun Liu
Affiliation:
Laboratory of Electromechanical Coupling in Electronic Equipment, Xidian University, Xi’an, China
Xiangfei Meng
Affiliation:
Laboratory of Electromechanical Coupling in Electronic Equipment, Xidian University, Xi’an, China
Guodong Tan
Affiliation:
Laboratory of Electromechanical Coupling in Electronic Equipment, Xidian University, Xi’an, China
*
Corresponding author: Xuechao Duan; Email: xchduan@xidian.edu.cn
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Abstract

In aerospace, automated assembly line, and precision engineering, asymmetric multi-robot systems comprising serial and parallel robots leverage the complementary strengths of these configurations to address the conflicting demands of high load capacity, extensive range, and flexibility in assembly tasks. However, the relatively small workspace of the parallel robot limits the full potential of the collaborative system functionality. This paper centers on a collaborative assembly system involving serial-parallel robots, whose collaborative workspace is determined by using a combination of the Monte Carlo method and lattice method. Additionally, a multi-objective optimization model is developed to holistically evaluate the collaborative workspace performance. The optimization problem is solved by an enhanced NSGA-II algorithm, which yields a Pareto optimal solution set. This result offers valuable technical insights for designing collaborative systems tailored to diverse task requirements.

Keywords

serial-parallel robotic collaborative systemscollaborative workspaceNSGA-II algorithmparallel manipulatorsmulti-robot systems

Information

Type
Research Article
Information
Robotica , First View , pp. 1 - 19
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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