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

Published online by Cambridge University Press:  25 July 2011

Donghun Lee ,
Jongwon Kim  and
TaeWon Seo
Donghun Lee
Affiliation:
Mechatronics Center, Samsung Heavy Industry, Daejeon, Republic of Korea
Jongwon Kim
Affiliation:
School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Republic of Korea
TaeWon Seo*
Affiliation:
School of Mechanical Engineering, Yeungnam University, Gyeongsan, Republic of Korea
*
*Corresponding author. E-mail: taewon_seo1@yu.ac.kr
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Summary

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 mm3/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.

Keywords

Optimal designTask-oriented workspacePartial workspaceEclipse mechanismParallel kinematic mechanismConjugate gradient methodFine and coarse searchStructural mass
Type
Articles
Information
Robotica , Volume 30 , Issue 7 , December 2012 , pp. 1041 - 1048
Copyright
Copyright © Cambridge University Press 2011

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