Kinematic optimal design of a paramill: A multi-SP device

In this paper, a manipulability analysis of a new parallel-type rolling mill, named ‘‘paramill,’’ in its conceptual design stage is investigated. The paramill considered uses two Stewart platforms (SPs) in opposite directions for the generation of 6 degree-offreedom motions of individual work-rolls. The objective of this new approach is to pursue an integrated control of the strip thickness, strip shape, pair-crossing angle, uniform wear of the rolls, and tension of the strip. The forward/inverse kinematics problems are formulated. Two main kinematic parameters, the size of the base and the acute angle made by two neighboring joints for a given size of the work-roll, have been determined in the way that the force and moment transmission from the actuators to the work-rolls is maximized. © 2004 Wiley Periodicals, Inc. • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • •