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

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

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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
pp.403-406
General Assembly of CIRP <56, 2006, Kobe>
Mitgliederversammlung des CIRP <56, 2006, Kobe>
English
Conference Paper
Fraunhofer IWU ()
optimization; kinematic; dynamic; parallel kinematic

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.

: http://publica.fraunhofer.de/documents/N-47197.html