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Research Papers

Kinematic Optimization of a Redundantly Actuated Parallel Mechanism for Maximizing Stiffness and Workspace Using Taguchi Method

[+] Author and Article Information
Hyunpyo Shin, Woosung In

Graduate School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, South Korea

Sungchul Lee

 Korean Institute of Machinery and Materials, Daejeon 305-343, South Korea

Jay I. Jeong1

School of Mechanical and Automotive Engineering, Kookmin University, 861-1, Jeongnung-Dong, Seungbuk-Gu, Seoul, South Koreajayjeong@kookmin.ac.kr

Jongwon Kim

School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea

1

Corresponding author.

J. Comput. Nonlinear Dynam 6(1), 011017 (Oct 11, 2010) (9 pages) doi:10.1115/1.4002268 History: Received June 14, 2009; Revised December 17, 2009; Published October 11, 2010; Online October 11, 2010

We present an optimization procedure that uses the Taguchi method to maximize the mean stiffness and workspace of a redundantly actuated parallel mechanism at the same time. The Taguchi method is used to separate the more influential and controllable variables from the less influential ones among kinematic parameters in workspace analysis and stiffness analysis. In the first stage of optimization, the number of experimental variables is reduced by the response analysis. Quasi-optimal kinematic parameter group is obtained in the second stage of optimization after the response analysis. As a validation of the suggested procedure, the kinematic parameters of a planar 2-DOF parallel manipulator are optimized, which optimization procedure is used to investigate the optimal kinematic parameter groups between the length of the link and the stiffness.

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Figures

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Figure 1

Optimization procedure in Taguchi method

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Figure 2

Schematic diagram of the planar 2-DOF parallel manipulator

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Figure 3

Workspace and stiffness distribution of the planar 2-DOF parallel manipulator with original kinematic parameters when external force (1 N) is applied (l11=280 mm, l21=280 mm, l31=280 mm, l12=280 mml22=280 mm, workspace=0.108 m2, mean stiffness=24.3864 N/m, and radius of gyration=0.568 m)

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Figure 4

Picture of the planar 2-DOF parallel manipulator with original dimension

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Figure 5

Response graph: average S/N ratios for the eleven controllable factors

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Figure 6

Response graph: average S/N ratios for the four controllable factors

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Figure 7

Workspace and stiffness graph as a result of the second stage experiment

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