An integrated optimization design with structural parameters and clearance allocation for a planar 3-RRR parallel robot

A clearance effect evaluation index system is presented in this paper. Based on the clearance effect evaluation index system and cost processing models, an integrated optimization method for mechanisms with clearance joints is proposed. As a case study, a planar 3-RRR parallel robot with clearance joints is investigated. On the basis of the optimization results, a prototype is designed and manufactured. Furthermore, an experimental system is established through building a data acquisition and analysis system and a control system.