Design and dimensional analysis of a metamorphic parallel sorting robot mechanism

CHEN Huiqing; ZHANG Jiaqiang; WANG Yixiong

doi:10.16578/j.issn.1004.2539.2026.07.003

Abstract：[Objective]In order to meet the needs of various sorting tasks,a robot mechanism was designed to improve the flexibility of the mechanism's work.[Methods]Firstly,a metamorphic sorting robot mechanism with three configurations was designed based on sorting tasks involving distinct trajectories.Subsequently,a comprehensive kinematic analysis was performed to determine the workspace of each configuration,and quantitative evaluation criteria for workspace constraints were estab-lished.Furthermore,an innovative dimensional optimization analysis method was proposed:optimization variables were inde-pendently assigned to each configuration while simultaneously considering the mechanism's dimensional parameters and work-space constraints.The optimization process began with single-objective optimization for each configuration,and constraints were set for the objective function values of each configuration to facilitate multi-objective collaborative optimization.Ultimate-ly,a comprehensive optimal solution satisfying the performance requirements of all configurations was obtained.Finally,a case study was conducted.[Results]Computational results demonstrate that the ratios of each optimal value to the objective function value of all configurations exceed 80%,indicating that the optimal performance of each configuration is reasonably ensured.The optimal dimensional parameters of the robot mechanism are derived,completing the structural design of the robot.This work provides novel research insights and a reference framework for metamorphic mechanism design.