Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimal Design of a New Rolling Mill Based upon Stewart Platform Manipulator : Maximization of Kinematic Manipulability

병렬구조 신 압연기의 최적설계 : 조작성 및 제어성능의 최대화

  • Hong, Geum-Sik (School of Mechanical Engineering, Pusan National Uinversity) ;
  • Lee, Seung-Hwan (Dept.of Intelligent Mechanical Engineering, Graduate School of Busan National University) ;
  • Choe, Jin-Tae (Research Institute of Industrial Science and Technology)
  • 홍금식 (부산대학교 공과대학 기계공학부) ;
  • 이승환 (부산대학교 대학원 지능기계공학과) ;
  • 최진태 (포항산업과학연구원)
  • Published : 2002.09.01
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Abstract

A kinematic and dynamic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. To provide sufficient degrees-of-freedom in the rolling process and the structural stability of each stand, a parallel manipulator with six legs is considered. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. By splitting the weighted Jacobian matrices Into two parts, the linear velocity, angular velocity, force, and moment transmissivities are analyzed. A manipulability measure, the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring Joints, are optimally designed by maximizing the global manipulability measure in the entire workspace. The maximum force needed in the hydraulic actuator is also calculated using the structure determined through the kinematic analysis and the Plucker coordinates. Simulation results are provided.

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References

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