Optimal configuration of a parallel kinematic manipulator for the maximum dynamic load-carrying capacity

Chun-Ta Chen, Shi Chang Zeng

研究成果: 書貢獻/報告類型會議貢獻

3 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題Proceedings - 1st International Conference on Robot, Vision and Signal Processing, RVSP 2011
頁面122-125
頁數4
DOIs
出版狀態已發佈 - 2011 十二月 1
事件1st International Conference on Robot, Vision and Signal Processing, RVSP 2011 - Kaohsiung, 臺灣
持續時間: 2011 十一月 212011 十一月 23

其他

其他1st International Conference on Robot, Vision and Signal Processing, RVSP 2011
國家臺灣
城市Kaohsiung
期間11/11/2111/11/23

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Signal Processing

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  • 引用此

    Chen, C-T., & Zeng, S. C. (2011). Optimal configuration of a parallel kinematic manipulator for the maximum dynamic load-carrying capacity. 於 Proceedings - 1st International Conference on Robot, Vision and Signal Processing, RVSP 2011 (頁 122-125). [6114920] https://doi.org/10.1109/RVSP.2011.19