Multi-Criteria Optimization of a Hexapod Machine |
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Authors: | Lars KÜbler Christoph Henninger Peter Eberhard |
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Affiliation: | (1) Institute of Applied Mechanics, University of Erlangen-Nuremberg, Egerlandstr. 5, 91058 Erlangen, Germany;(2) Institute B of Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70550 Stuttgart, Germany |
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Abstract: | Alternative designs of a hexapod machine are proposed and investigated with the aims to reduce flexibility and to eliminate
singular kinematic configurations that appear in the workspace for the current design of the machine. The hexapod is modeled
as a rigid multibody system. Articular coordinates associated with desired tool trajectories are computed by inverse kinematics.
Hence, dynamic forces and torques are not considered and, as there is no closed-loop control realized in the model, the actual
rotational and translational position of the tool deviates from the desired position due to machining loads. These deviations
serve as objective functions during a multi-criteria optimization in order to determine the best design regarding stiffness/flexibility
of the machine. Further, a general approach for evaluating flexibility behavior of the machine in the complete workspace is
introduced and the results from the optimization are verified. Besides flexibility, a crucial point for machining tools is
the size of the feasible workspace. Therefore, the influence of the design modification on the workspace is also taken into
account. |
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Keywords: | dynamic system design multi-criteria optimization parallel kinematics hexapod machine singular configurations flexibility analysis |
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