Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

Method for the optimization of kinematic and dynamic properties of parallel kinematic machines

: Neugebauer, Reimund; Drossel, W.-G.; Ihlenfeldt, S.; Hensel, S.; Harzbecker, C.


International Institution for Production Engineering Research -CIRP-, Paris:
56. Mitgliederversammlung des CIRP 2006 : Kobe, Japan, August 20 - 26, 2006
Amsterdam: Elsevier, 2006 (CIRP annals 55.2006,1)
ISBN: 0-08-045049-0
General Assembly of CIRP <56, 2006, Kobe>
Mitgliederversammlung des CIRP <56, 2006, Kobe>
Conference Paper
Fraunhofer IWU ()
optimization; kinematic; dynamic; parallel kinematic

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.