TY - GEN
T1 - Kinematic Optimization of 3-PUU Parallel Manipulator with Large Spatial Workspace
AU - Adi Setya, Wega Tama
AU - Marliana, Eka
AU - Nurahmi, Latifah
AU - Wahjudi, Arif
AU - Londen Batan, I. Made
AU - Wei, Guowu
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper deals with the kinematic optimization of a 3-PUU parallel mechanism for friction stir welding of large parts. The main requirement in the friction stir welding which should be fulfilled by the 3-PUU parallel mechanism is the reachable workspace in the horizontal plane should be large enough. The 3-PUU parallel mechanism consists of an equilateral triangle platform and the base which are connected by a limb. The aim of the optimization is to synthesize a set of optimum dimensions of the moving platform, the base, and the limb length for a given value of the Local Condition Index (LCI). The LCI used in this paper is based on the inverse of condition number and its value is bounded within zero and one, which can ease the optimization process. A genetic algorithm is employed for the optimization method and a single optimum design can be obtained. The workspace of the selected design of the 3-PUU parallel mechanism is presented.
AB - This paper deals with the kinematic optimization of a 3-PUU parallel mechanism for friction stir welding of large parts. The main requirement in the friction stir welding which should be fulfilled by the 3-PUU parallel mechanism is the reachable workspace in the horizontal plane should be large enough. The 3-PUU parallel mechanism consists of an equilateral triangle platform and the base which are connected by a limb. The aim of the optimization is to synthesize a set of optimum dimensions of the moving platform, the base, and the limb length for a given value of the Local Condition Index (LCI). The LCI used in this paper is based on the inverse of condition number and its value is bounded within zero and one, which can ease the optimization process. A genetic algorithm is employed for the optimization method and a single optimum design can be obtained. The workspace of the selected design of the 3-PUU parallel mechanism is presented.
KW - 3-PUU Parallel Mechanism
KW - Condition Number
KW - Genetic Algorithm
KW - Kinematic Optimization
KW - Parallel mechanism
UR - http://www.scopus.com/inward/record.url?scp=85188507706&partnerID=8YFLogxK
U2 - 10.1109/ICRAE59816.2023.10458497
DO - 10.1109/ICRAE59816.2023.10458497
M3 - Conference contribution
AN - SCOPUS:85188507706
T3 - 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023
SP - 48
EP - 52
BT - 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Robotics and Automation Engineering, ICRAE 2023
Y2 - 17 November 2023 through 19 November 2023
ER -