KINEMATIC OPTIMIZATION OF A REDUNDANTLY ACTUATED PARALLEL MECHANISM FOR MAXIMIZING STIFFNESS AND WORKSPACE USING TAGUCHI METHOD

We present an optimization procedure that uses the Taguchi method to optimize the mean stiffness and workspace of a redundantly actuated parallel mechanism. The kinematic parameters of a planar 2-DOF parallel manipulator are optimized to maximize the manipulator's workspace and mean stiffness at the same time. Kinematic analysis is performed to obtain a constraint Jacobian and forward Jacobian. And stiffness analysis of the redundantly actuated parallel manipulator is performed based on the virtual work theorem. The Taguchi method is applied to separate the more influential and controllable variables from the less influential ones in the optimization procedure. In the first stage of optimization, the number of experimental variables is reduced by response analysis. And after the response analysis, quasi-optimal kinematic parameter group is obtained in the second stage of optimization. The optimization procedure was used to investigate the optimal kinematic parameter groups and the relationship between the length and the stiffness of the link.