Reconfiguration for the maximum dynamic wrench capability of a parallel robot

Chih Jer Lin; Chun Ta Chen

doi:10.3390/app6030080

Reconfiguration for the maximum dynamic wrench capability of a parallel robot

Chih Jer Lin, Chun Ta Chen^*

^*Corresponding author for this work

Department of Mechatronic Engineering

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

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 language	English
Article number	80
Journal	Applied Sciences (Switzerland)
Volume	6
Issue number	3
DOIs	https://doi.org/10.3390/app6030080
Publication status	Published - 2016

Keywords

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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10.3390/app6030080

Cite this

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abstract = "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.",

keywords = "Dynamic wrench, Hierarchical optimization, Parallel robot, Reconfiguration",

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AB - 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.

KW - Dynamic wrench

KW - Hierarchical optimization

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KW - Reconfiguration

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Reconfiguration for the maximum dynamic wrench capability of a parallel robot

Abstract

Keywords

ASJC Scopus subject areas

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