Optimal reconfiguration of parallel manipulators for the maximum dynamic wrench capability

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

研究成果: 書貢獻/報告類型會議貢獻

摘要

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.

原文英語
主出版物標題2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
頁面627-632
頁數6
DOIs
出版狀態已發佈 - 2013 十一月 25
事件2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, 日本
持續時間: 2013 八月 42013 八月 7

出版系列

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

其他

其他2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
國家日本
城市Takamastu
期間13/8/413/8/7

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • 引用此

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