Method for the Optimization of Kinematic and Dynamic Properties of Parallel Kinematic Machines |
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Authors: | R Neugebauer C Harzbecker S Hensel |
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Affiliation: | a Fraunhofer Institute for Machine Tools and Forming Technology IWU, Chemnitz, Germany |
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Abstract: | The following paper introduces an approach, which allows the consideration of the kinematic as well as the dynamic properties of parallel kinematic machines. Based on the results of a preceding kinematic optimization, a FEM-model with arbitrary input parameters is designed. The full kinematic functionality of struts and joints used is ensured. By coupling the FEM-model to the GNU Octave numerical program system, a variety of movements including machining forces can be simulated. A Broyden-Fletcher-Goldfarb-Shanno optimization algorithm, using GNU Octave, was written and coupled to the FEM-system. Now, this algorithm is able to influence the model's arbitrary input parameters during the optimization process. Thus, the model is optimized automatically for a certain machining process and/or dynamic behavior. This procedure is demonstrated using the example of a delta robot structure originally designed by Raymond Clavel 7]. |
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Keywords: | Optimization Kinematic Dynamic |
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