Task-Based Optimal Design of a Stewart-Platform Manipulator: A New Rolling Mill  

Oleh:

Lee, Seung-Hwan ; Hong, Keum-Shik ; Choi, Chintae

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1547-1552.
Topik: Optimal Design; Stewart-Platform Manipulator; Kinematic; Jacobian matrix
Fulltext: AC021611.PDF (377.06KB)

Isi artikel

In this paper, a kinematic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. 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. A manipulability measure, as 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

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