Reconfiguration for the maximum dynamic wrench capability of a parallel robot

Chih Jer Lin, Chun Ta Chen*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


In this paper, a Stewart-platform robot with sliding lockable base joints is proposed for reconfiguration, and it addresses the determination of the optimal configuration for the prescribed motion with maximum allowable dynamic wrench capability subject to the constraints imposed by the kinematics and dynamics of the proposed reconfigurable architecture. The numerical results from the hierarchical optimization process allow us to investigate the effects of the base point locations on the maximum dynamic wrench capability. The effectiveness of the proposed algorithm is demonstrated in the improvement of the maximum allowable dynamic wrench capability of the reconfigurable Stewart-platform robot.

Original languageEnglish
Article number80
JournalApplied Sciences (Switzerland)
Issue number3
Publication statusPublished - 2016


  • Dynamic wrench
  • Hierarchical optimization
  • Parallel robot
  • Reconfiguration

ASJC Scopus subject areas

  • General Materials Science
  • Instrumentation
  • General Engineering
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


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