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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January 2011
Research Papers
Kinematic Optimization of a Redundantly Actuated Parallel Mechanism for Maximizing Stiffness and Workspace Using Taguchi Method
Hyunpyo Shin,
Hyunpyo Shin
Graduate School of Mechanical and Aerospace Engineering,
Seoul National University
, Seoul 151-742, South Korea
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Sungchul Lee,
Sungchul Lee
Korean Institute of Machinery and Materials
, Daejeon 305-343, South Korea
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Woosung In,
Woosung In
Graduate School of Mechanical and Aerospace Engineering,
Seoul National University
, Seoul 151-742, South Korea
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Jay I. Jeong,
Jay I. Jeong
School of Mechanical and Automotive Engineering,
e-mail: jayjeong@kookmin.ac.kr
Kookmin University
, 861-1, Jeongnung-Dong, Seungbuk-Gu, Seoul, South Korea
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Jongwon Kim
Jongwon Kim
School of Mechanical and Aerospace Engineering,
Seoul National University
, Seoul, South Korea
Search for other works by this author on:
Hyunpyo Shin
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
Woosung In
Graduate School of Mechanical and Aerospace Engineering,
Seoul National University
, Seoul 151-742, South Korea
Jay I. Jeong
School of Mechanical and Automotive Engineering,
Kookmin University
, 861-1, Jeongnung-Dong, Seungbuk-Gu, Seoul, South Koreae-mail: jayjeong@kookmin.ac.kr
Jongwon Kim
School of Mechanical and Aerospace Engineering,
Seoul National University
, Seoul, South KoreaJ. Comput. Nonlinear Dynam. Jan 2011, 6(1): 011017 (9 pages)
Published Online: October 11, 2010
Article history
Received:
June 14, 2009
Revised:
December 17, 2009
Online:
October 11, 2010
Published:
October 11, 2010
Citation
Shin, H., Lee, S., In, W., Jeong, J. I., and Kim, J. (October 11, 2010). "Kinematic Optimization of a Redundantly Actuated Parallel Mechanism for Maximizing Stiffness and Workspace Using Taguchi Method." ASME. J. Comput. Nonlinear Dynam. January 2011; 6(1): 011017. https://doi.org/10.1115/1.4002268
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