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http://dx.doi.org/10.5302/J.ICROS.2002.8.9.764

Optimal Design of a New Rolling Mill Based upon Stewart Platform Manipulator : Maximization of Kinematic Manipulability  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.9, 2002 , pp. 764-775 More about this Journal
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.
Keywords
rolling mill; parallel manipulator; Stewart platform; Jacobian matrix; manipulability; kinematic optimal design;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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