Abstract

In this paper, a kinematic optimal design of a new parallel-type rolling mill based upon two Stewart platform manipulators is investigated. To provide the end-effector (work roll) with sufficient d.o.f. and to achieve the structural stability of each stand, a parallel manipulator with six legs is considered. The objective of this new parallel-type rolling mill is to pursue an integrated control of the strip thickness, strip shape, pair-crossing angle, uniform wear of the rolls and strip tension. By splitting the weighted Jacobian matrices into two parts, the linear velocity, angular velocity, force and moment transmissibilities are analyzed. A manipulability measure, as the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. The two kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global force manipulability measure defined in the entire workspace. The maximum exerting force needed in hydraulic actuators is also calculated using the kinematic structure determined and the Plücker coordinates introduced. Simulation results are provided.

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