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

Shin, Hyungcheol; Lee, Sungchul; In, Woosung; Jeong, Jin-Yeon; Kim, Jong-Won

doi:10.1115/1.4002268

Cited by 23 publications

(13 citation statements)

References 13 publications

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“…The method that uses a wrench capability analysis could be used to calculate the energy consumption rather than the representative pathway. 4,9,17 However, this method requires too many iterations. In this paper, the numerical optimization for the minimum-energy torque distribution should be conducted when the RAPM is actuated on the specific pathway.…”

Section: Performance Indexmentioning

confidence: 99%

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Optimal dimensioning of redundantly actuated mechanism for maximizing energy efficiency and workspace via Taguchi method

Park

Kim

Jeong

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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A kinematic optimization of a redundantly actuated parallel mechanism is developed via the Taguchi method to maximize the sum of energy efficiency and workspace. In the optimization process, the energy consumption in a representative pathway of a predefined workspace is used as the performance index of the energy efficiency. The horizontal reach and stroke, and the vertical reach of mechanism, are used for the performance index of the workspace. The kinematic parameters of a chain that was added to the proposed non-redundantly actuated parallel mechanism as an extension to achieve redundant actuation are selected as the controllable factors. The velocity of the end-effector is considered to be a noise factor. Because the Taguchi method was originally used for robust optimization, we can improve the energy efficiency and workspace under various velocities for the end-effector. In the first stage of optimization, the number of controllable factors is reduced, and their correlations are eliminated using a response analysis. Quasi-optimized results are derived after the second stage of optimization. The optimized redundantly actuated parallel mechanism result is validated by comparing the energy efficiencies and workspaces of the original and optimal redundantly actuated parallel mechanisms.

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Section: Performance Indexmentioning

confidence: 99%

“…Shin et al. 9 maximized the workspace of a parallel manipulator using kinematic optimization while considering its mean stiffness.…”

Section: Introductionmentioning

confidence: 99%

Optimal dimensioning of redundantly actuated mechanism for maximizing energy efficiency and workspace via Taguchi method

Park

Kim

Jeong

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…The relationship between the actuating joint torque of PKMs and the force exerted on the end-effector of the mechanisms can be obtained by the virtual work theorem as in the following [19]:…”

Section: Kinematic Stiffness Analysis With Hessian Matrixmentioning

confidence: 99%

A New Decoupling Method for Explicit Stiffness Analysis of Kinematically Redundant Planar Parallel Kinematic Mechanism

Shin

Lee

2015

Mathematical Problems in Engineering

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Optimization and control of stiffness for parallel kinematic mechanisms (PKM) are critical issues because stiffness is directly related to the precision and response characteristics of the end-effector of PKMs. Unlike nonredundant PKMs, redundant PKMs have additional actuators exceeding their essential degrees-of-freedom (DOF), resulting in an increase in the redundancy of control. The stiffness of redundant PKMs is divided into passive and active stiffness. Active stiffness is changeable even in cases of fixed kinematic parameters and end-effector posture. However, it is not easy and intuitive to control the active stiffness of redundant PKMs for the complexity of Hessian matrix operations. This paper describes a new decoupling method for explicit stiffness analysis of redundant PKM with the well-known two-DOF and one-redundant planar five-bar PKM. Three actuating joints are decoupled to three groups containing two actuating joints. With this mathematical configuration, the stiffness matrix for one-redundant actuation is also divided into three stiffness matrices for nonredundant actuation, and the contribution of each actuator can be intuitively investigated. Stiffness matrices for the original and decoupled cases are compared in detail. In particular, this decoupling method is applicable to redundant PKMs with many passive joints. Finding optimal joints for one- or two-redundant actuation with various candidates is more intuitive with this decoupling method.

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“…Xie et al [16] discussed the optimization of a redundantly actuated parallel kinematic mechanism with motion/force transmissibility. Kim et al made relevant contributions to the optimal design of redundantly actuated parallel robots [17][18][19][20]. They designed the first 6-DOF redundantly actuated parallel robots for five-face machining and investigated the antagonistic stiffness and energy-saving optimization of redundantly actuated parallel mechanisms systematically.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Sensitivity Analysis and Dimensional Synthesis of a Redundantly Actuated Parallel Robot for Friction Stir Welding

Chai

Zhang

et al. 2020

Chin. J. Mech. Eng.

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Friction stir welding (FSW) has been widely applied in many fields as an alternative to traditional fusion welding. Although serial robots can provide the orientation capability required to weld along curved surfaces, they cannot adequately support the huge axial downward forces that FSW generates. Available parallel mechanism architectures, particularly redundantly actuated architectures for FSW, are still very limited. In this paper, a redundantly actuated 2UPR-2RPU parallel robot for FSW is proposed, where U denotes a universal joint, R denotes a revolute joint and P denotes a prismatic pair. First, its semi-symmetric structure is described. Next, inverse kinematics analysis involving an analytical representation of rotational axes is implemented. Velocity analysis is also conducted, which leads to the formation of a Jacobian matrix. Sensitivity performance is evaluated utilizing level set and convex optimization methods, where the local sensitivity indices are unit consistent, coordinate free, and of definite physical significance. Furthermore, global and hierarchical sensitivity indices are proposed for the design process. Finally, dimension synthesis is conducted based on the sensitivity indices and the optimal link parameters of the parallel robot are obtained. In summary, this paper proposes a dimensional synthesis method for a redundantly actuated parallel robot for FSW based on sensitivity indices.

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

Cited by 23 publications

References 13 publications

Optimal dimensioning of redundantly actuated mechanism for maximizing energy efficiency and workspace via Taguchi method

Optimal dimensioning of redundantly actuated mechanism for maximizing energy efficiency and workspace via Taguchi method

A New Decoupling Method for Explicit Stiffness Analysis of Kinematically Redundant Planar Parallel Kinematic Mechanism

Kinematic Sensitivity Analysis and Dimensional Synthesis of a Redundantly Actuated Parallel Robot for Friction Stir Welding

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