Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots
Friction Stir Welding (FSW) has recently emerged as an effective solid-state joining technique for welding high-strength aluminum alloys and light metals, particularly in the railway industry. However, a limitation of using FSW in this industry is the restricted workspace available. To address this...
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2025-01-01
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| author | Eka Marliana Latifah Nurahmi Arif Wahjudi I. Made Londen Batan Guowu Wei |
| author_facet | Eka Marliana Latifah Nurahmi Arif Wahjudi I. Made Londen Batan Guowu Wei |
| author_sort | Eka Marliana |
| collection | DOAJ |
| description | Friction Stir Welding (FSW) has recently emerged as an effective solid-state joining technique for welding high-strength aluminum alloys and light metals, particularly in the railway industry. However, a limitation of using FSW in this industry is the restricted workspace available. To address this issue, a 3-PUU (Prismatic and Universal Joints) parallel machine with 3-DoF (Degrees of Freedom) translational movement is utilized to support the FSW robot’s tool head, allowing the robot to operate over a larger horizontal workspace. This paper focuses on the design and optimization of a 3-PUU parallel machine to achieve an optimal configuration based on performance indices, specifically the Local Conditioning Index (LCI) and the dynamic isotropy index (<inline-formula> <tex-math notation="LaTeX">$d_{1}$ </tex-math></inline-formula>). Initially, a design space atlas was created, mapping both LCI and <inline-formula> <tex-math notation="LaTeX">$d_{1}$ </tex-math></inline-formula> were identified. A Genetic Algorithm (GA) was then used to determine a single optimal design within this region. A cuboid workspace was defined for this optimal design, and two test trajectories were generated for the robot to follow. A prototype of the optimal design was built, and a series of experiments were conducted to verify and validate the kinematic and dynamic models within the defined cuboid workspace, which provides foundations for further industrial applications of the proposed machine in FSW. |
| format | Article |
| id | doaj-art-b2f6ccd829a74ef987cf5b3ffb281a56 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
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| spelling | doaj-art-b2f6ccd829a74ef987cf5b3ffb281a562025-02-11T00:01:39ZengIEEEIEEE Access2169-35362025-01-0113238882390110.1109/ACCESS.2025.353648210858165Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding RobotsEka Marliana0https://orcid.org/0000-0002-3389-4165Latifah Nurahmi1https://orcid.org/0000-0002-5357-8098Arif Wahjudi2I. Made Londen Batan3Guowu Wei4https://orcid.org/0000-0003-2613-902XDepartment of Mechanical Engineering, Institut Teknologi Sepuluh Nopember, Surabaya, IndonesiaDepartment of Mechanical Engineering, Institut Teknologi Sepuluh Nopember, Surabaya, IndonesiaDepartment of Mechanical Engineering, Institut Teknologi Sepuluh Nopember, Surabaya, IndonesiaDepartment of Mechanical Engineering, Institut Teknologi Sepuluh Nopember, Surabaya, IndonesiaSchool of Science, Engineering and Environment, University of Salford, Salford, U.K.Friction Stir Welding (FSW) has recently emerged as an effective solid-state joining technique for welding high-strength aluminum alloys and light metals, particularly in the railway industry. However, a limitation of using FSW in this industry is the restricted workspace available. To address this issue, a 3-PUU (Prismatic and Universal Joints) parallel machine with 3-DoF (Degrees of Freedom) translational movement is utilized to support the FSW robot’s tool head, allowing the robot to operate over a larger horizontal workspace. This paper focuses on the design and optimization of a 3-PUU parallel machine to achieve an optimal configuration based on performance indices, specifically the Local Conditioning Index (LCI) and the dynamic isotropy index (<inline-formula> <tex-math notation="LaTeX">$d_{1}$ </tex-math></inline-formula>). Initially, a design space atlas was created, mapping both LCI and <inline-formula> <tex-math notation="LaTeX">$d_{1}$ </tex-math></inline-formula> were identified. A Genetic Algorithm (GA) was then used to determine a single optimal design within this region. A cuboid workspace was defined for this optimal design, and two test trajectories were generated for the robot to follow. A prototype of the optimal design was built, and a series of experiments were conducted to verify and validate the kinematic and dynamic models within the defined cuboid workspace, which provides foundations for further industrial applications of the proposed machine in FSW.https://ieeexplore.ieee.org/document/10858165/Friction stir weldingparallel machinedesign optimizationperformance indicesgenetic algorithm |
| spellingShingle | Eka Marliana Latifah Nurahmi Arif Wahjudi I. Made Londen Batan Guowu Wei Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots IEEE Access Friction stir welding parallel machine design optimization performance indices genetic algorithm |
| title | Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots |
| title_full | Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots |
| title_fullStr | Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots |
| title_full_unstemmed | Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots |
| title_short | Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots |
| title_sort | design optimization of a 3 puu parallel machine for friction stir welding robots |
| topic | Friction stir welding parallel machine design optimization performance indices genetic algorithm |
| url | https://ieeexplore.ieee.org/document/10858165/ |
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