Optimal reconfiguration of parallel manipulators for the maximum dynamic wrench capability

Chun-Ta Chen, Guan Lin Jin, Chiang Ho Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes an optimization approach to the maximum dynamic wrench capability of a reconfigurable motor-driven parallel manipulator. The focus is on determination of the optimal reconfiguration which accomplishes the prescribed motion for the maximum dynamic wrench capability subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. In this study, the dynamics model for the dynamic wrench capability analysis is first formulated in a structured linear parameter matrix-vector form, and then the optimal configuration is obtained by a two-loop of optimization process. This geometry adjustment can be achieved by displacing the base points along the linear guideways. The numerical results present the effects of the base point locations on the maximum dynamic wrench capability and demonstrate the effectiveness of the proposed algorithm for the improvement of the maximum dynamic wrench capability of parallel manipulators.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages627-632
Number of pages6
DOIs
Publication statusPublished - 2013 Nov 25
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: 2013 Aug 42013 Aug 7

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period13/8/413/8/7

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Keywords

  • Reconfiguration
  • differential evolution
  • dynamic wrench capability

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Chen, C-T., Jin, G. L., & Cheng, C. H. (2013). Optimal reconfiguration of parallel manipulators for the maximum dynamic wrench capability. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 627-632). [6617989] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6617989