TY - GEN
T1 - Optimal configuration of a parallel kinematic manipulator for the maximum dynamic load-carrying capacity
AU - Chen, Chun Ta
AU - Zeng, Shi Chang
PY - 2011
Y1 - 2011
N2 - In determining the maximum dynamic loadcarrying capacity (DLCC) of reconfigurable motor-driven parallel kinematic manipulators (PKM), the objective is to identify the optimal configuration which accomplishes the assigned motion for the maximum DLCC subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. In this study, the maximum DLCC problem of a reconfigurable PKM is formulated using the structured Boltzmann-Hamel-d- Alembert formulism, and then the optimal reconfiguration is obtained using a two-loop of optimization process, in which the particle swarm optimization (PSO) algorithm is for the outer-loop optimization and the linear programming (LP) method is for the inner-loop optimization, such that the reconfiguration is achieved by relocating the base points along linear guideways. The numerical results present the effects of the base locations on the DLCC and the corresponding kinematics and dynamics along the prescribed trajectory.
AB - In determining the maximum dynamic loadcarrying capacity (DLCC) of reconfigurable motor-driven parallel kinematic manipulators (PKM), the objective is to identify the optimal configuration which accomplishes the assigned motion for the maximum DLCC subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. In this study, the maximum DLCC problem of a reconfigurable PKM is formulated using the structured Boltzmann-Hamel-d- Alembert formulism, and then the optimal reconfiguration is obtained using a two-loop of optimization process, in which the particle swarm optimization (PSO) algorithm is for the outer-loop optimization and the linear programming (LP) method is for the inner-loop optimization, such that the reconfiguration is achieved by relocating the base points along linear guideways. The numerical results present the effects of the base locations on the DLCC and the corresponding kinematics and dynamics along the prescribed trajectory.
KW - Boltzmann-Hamel-d-Alembert
KW - Dynamic load-carrying capacity
KW - Parallel kinematic manipulator
KW - Particle swarm optimization
KW - Reconfigurable
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U2 - 10.1109/RVSP.2011.19
DO - 10.1109/RVSP.2011.19
M3 - Conference contribution
AN - SCOPUS:84863050568
SN - 9780769545813
T3 - Proceedings - 1st International Conference on Robot, Vision and Signal Processing, RVSP 2011
SP - 122
EP - 125
BT - Proceedings - 1st International Conference on Robot, Vision and Signal Processing, RVSP 2011
T2 - 1st International Conference on Robot, Vision and Signal Processing, RVSP 2011
Y2 - 21 November 2011 through 23 November 2011
ER -