Optimization of the operating stiffness of a two-axis parallel robot

Jae Wook Lee; Jin Seok Jang; Sang Kon Lee; Myeong Sik Jeong; Yong Jae Cho; Kun Woo Kim; Wan Suk Yoo

doi:10.3795/KSME-A.2015.39.6.561

Optimization of the operating stiffness of a two-axis parallel robot

Jae Wook Lee, Jin Seok Jang, Sang Kon Lee, Myeong Sik Jeong, Yong Jae Cho, Kun Woo Kim, Wan Suk Yoo

Department of Smart Mobility Engineering

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

In this paper, the operating stiffness of a parallel robot used to handle heavy packages is optimized. Because the studied model, called a "pick and place robot," is applied for packaging logistics, it is important for the robot to be lightweight so that it may respond rapidly and have high stiffness to allow sufficient operating precision. However, these two requirements of low weight and high stiffness are mutually exclusive. Thus, the dynamic characteristics of the robot are analyzed through multibody dynamics analysis, and topology optimization is conducted to achieve this exclusive performance. Lastly, the reliability of the topology optimization is verified by applying the optimized design to the parallel robot.

Original language	English
Pages (from-to)	561-566
Number of pages	6
Journal	Transactions of the Korean Society of Mechanical Engineers, A
Volume	39
Issue number	6
DOIs	https://doi.org/10.3795/KSME-A.2015.39.6.561
State	Published - Jun 2015

Keywords

High stiffness design
Multi-body dynamics
Operating stiffness optimization
Parallel robot
Topology optimization
Weight reduction design

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10.3795/KSME-A.2015.39.6.561

Cite this

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title = "Optimization of the operating stiffness of a two-axis parallel robot",

abstract = "In this paper, the operating stiffness of a parallel robot used to handle heavy packages is optimized. Because the studied model, called a {"}pick and place robot,{"} is applied for packaging logistics, it is important for the robot to be lightweight so that it may respond rapidly and have high stiffness to allow sufficient operating precision. However, these two requirements of low weight and high stiffness are mutually exclusive. Thus, the dynamic characteristics of the robot are analyzed through multibody dynamics analysis, and topology optimization is conducted to achieve this exclusive performance. Lastly, the reliability of the topology optimization is verified by applying the optimized design to the parallel robot.",

keywords = "High stiffness design, Multi-body dynamics, Operating stiffness optimization, Parallel robot, Topology optimization, Weight reduction design",

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AU - Kim, Kun Woo

AU - Yoo, Wan Suk

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AB - In this paper, the operating stiffness of a parallel robot used to handle heavy packages is optimized. Because the studied model, called a "pick and place robot," is applied for packaging logistics, it is important for the robot to be lightweight so that it may respond rapidly and have high stiffness to allow sufficient operating precision. However, these two requirements of low weight and high stiffness are mutually exclusive. Thus, the dynamic characteristics of the robot are analyzed through multibody dynamics analysis, and topology optimization is conducted to achieve this exclusive performance. Lastly, the reliability of the topology optimization is verified by applying the optimized design to the parallel robot.

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Optimization of the operating stiffness of a two-axis parallel robot

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