Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed Sculptures
This paper describes the optimal design of a 3-DOF redundant planar parallel kinematic mechanism (PKM) based finishing cut stage to improve the surface roughness of FDM 3D printed sculptures. First, to obtain task-optimized and singularity minimum workspace of the redundant PKM, a weighted grid map...
Main Authors: | , , |
---|---|
Format: | Article |
Language: | English |
Published: |
MDPI AG
2021-04-01
|
Series: | Mathematics |
Subjects: | |
Online Access: | https://www.mdpi.com/2227-7390/9/9/961 |
id |
doaj-e8717794847240839a46df9d996eed6b |
---|---|
record_format |
Article |
spelling |
doaj-e8717794847240839a46df9d996eed6b2021-04-25T23:03:43ZengMDPI AGMathematics2227-73902021-04-01996196110.3390/math9090961Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed SculpturesMinbok Lee0Hyungjin Jeong1Donghun Lee2Hyundai Robotics, Gyeonggi 13630, KoreaSchool of Mechanical Engineering, Soongsil University, Seoul 06978, KoreaSchool of Mechanical Engineering, Soongsil University, Seoul 06978, KoreaThis paper describes the optimal design of a 3-DOF redundant planar parallel kinematic mechanism (PKM) based finishing cut stage to improve the surface roughness of FDM 3D printed sculptures. First, to obtain task-optimized and singularity minimum workspace of the redundant PKM, a weighted grid map based design optimization was applied for a task-optimized workspace without considering the redundancy. For the singularity minimum workspace, the isotropy and manipulability of the end effector of the PKM were carefully modeled under the previously obtained redundancy for optimality. It was confirmed that the workspace size increased by 81.4%, and the internal singularity significantly decreased. To estimate the maximum rated torque and torsional stiffness of all active joints and prevent an undesired end effector displacement of more than 200 , a kinematic stiffness model composed of active and passive kinematic stiffness was derived from the virtual work theorem, and the displacement characteristic at the end effector was examined by applying the reaction force for the PLA surface finishing as an external force acting at the end effector. It was confirmed that the displacement of the end effector of a 1-DOF redundant PKM was not only less than 200 but also decreased from 40.9% to 67.4% compared to a nonredundant actuation.https://www.mdpi.com/2227-7390/9/9/961hybrid 3D printerfinishing cut stageparallel kinematic mechanismworkspace optimizationsurface roughness |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Minbok Lee Hyungjin Jeong Donghun Lee |
spellingShingle |
Minbok Lee Hyungjin Jeong Donghun Lee Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed Sculptures Mathematics hybrid 3D printer finishing cut stage parallel kinematic mechanism workspace optimization surface roughness |
author_facet |
Minbok Lee Hyungjin Jeong Donghun Lee |
author_sort |
Minbok Lee |
title |
Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed Sculptures |
title_short |
Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed Sculptures |
title_full |
Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed Sculptures |
title_fullStr |
Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed Sculptures |
title_full_unstemmed |
Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed Sculptures |
title_sort |
design optimization of 3-dof redundant planar parallel kinematic mechanism based finishing cut stage for improving surface roughness of fdm 3d printed sculptures |
publisher |
MDPI AG |
series |
Mathematics |
issn |
2227-7390 |
publishDate |
2021-04-01 |
description |
This paper describes the optimal design of a 3-DOF redundant planar parallel kinematic mechanism (PKM) based finishing cut stage to improve the surface roughness of FDM 3D printed sculptures. First, to obtain task-optimized and singularity minimum workspace of the redundant PKM, a weighted grid map based design optimization was applied for a task-optimized workspace without considering the redundancy. For the singularity minimum workspace, the isotropy and manipulability of the end effector of the PKM were carefully modeled under the previously obtained redundancy for optimality. It was confirmed that the workspace size increased by 81.4%, and the internal singularity significantly decreased. To estimate the maximum rated torque and torsional stiffness of all active joints and prevent an undesired end effector displacement of more than 200 , a kinematic stiffness model composed of active and passive kinematic stiffness was derived from the virtual work theorem, and the displacement characteristic at the end effector was examined by applying the reaction force for the PLA surface finishing as an external force acting at the end effector. It was confirmed that the displacement of the end effector of a 1-DOF redundant PKM was not only less than 200 but also decreased from 40.9% to 67.4% compared to a nonredundant actuation. |
topic |
hybrid 3D printer finishing cut stage parallel kinematic mechanism workspace optimization surface roughness |
url |
https://www.mdpi.com/2227-7390/9/9/961 |
work_keys_str_mv |
AT minboklee designoptimizationof3dofredundantplanarparallelkinematicmechanismbasedfinishingcutstageforimprovingsurfaceroughnessoffdm3dprintedsculptures AT hyungjinjeong designoptimizationof3dofredundantplanarparallelkinematicmechanismbasedfinishingcutstageforimprovingsurfaceroughnessoffdm3dprintedsculptures AT donghunlee designoptimizationof3dofredundantplanarparallelkinematicmechanismbasedfinishingcutstageforimprovingsurfaceroughnessoffdm3dprintedsculptures |
_version_ |
1721509184112951296 |