Optimal design of 6-DOF eclipse mechanism based on task-oriented workspace

Title
Optimal design of 6-DOF eclipse mechanism based on task-oriented workspace
Author(s)
서태원이동훈[이동훈]김종원[김종원]
Keywords
PARALLEL POSITIONING PLATFORM; ORIENTATION WORKSPACE; MANIPULATORS; ALGORITHMS
Issue Date
201212
Publisher
CAMBRIDGE UNIV PRESS
Citation
ROBOTICA, v.30, pp.1041 - 1048
Abstract
We present a new numerical optimal design for a redundant parallel manipulator, the eclipse, which has a geometrically symmetric workspace shape. We simultaneously consider the structural mass and design efficiency as objective functions to maximize the mass reduction and minimize the loss of design efficiency. The task-oriented workspace (TOW) and its partial workspace (PW) are considered in efficiently obtaining an optimal design by excluding useless orientations of the end-effector and by including just one cross-sectional area of the TOW. The proposed numerical procedure is composed of coarse and fine search steps. In the coarse search step, we find the feasible parameter regions (FPR) in which the set of parameters only satisfy the marginal constraints. In the fine search step, we consider the multiobjective function in the FPR to find the optimal set of parameters. In this step, fine search will be kept until it reaches the optimal set of parameters that minimize the proposed objective functions by continuously updating the PW in every iteration. By applying the proposed approach to an eclipse-rapid prototyping machine, the structural mass of the machine can be reduced by 8.79% while the design efficiency is increased by 6.2%. This can be physically interpreted as a mass reduction of 49 kg (the initial structural mass was 554.7 kg) and a loss of 496 mm(3)/mm in the workspace volume per unit length. The proposed optimal design procedure could be applied to other serial or parallel mechanism platforms that have geometrically symmetric workspace shapes.
URI
http://hdl.handle.net/YU.REPOSITORY/26713http://dx.doi.org/10.1017/S0263574711000774
ISSN
0263-5747
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공과대학 > 기계공학부 > Articles
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