TY - GEN
T1 - Optimal reconfiguration of parallel manipulators for the maximum dynamic wrench capability
AU - Chen, Chun Ta
AU - Jin, Guan Lin
AU - Cheng, Chiang Ho
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
KW - Reconfiguration
KW - differential evolution
KW - dynamic wrench capability
UR - http://www.scopus.com/inward/record.url?scp=84887909507&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887909507&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2013.6617989
DO - 10.1109/ICMA.2013.6617989
M3 - Conference contribution
AN - SCOPUS:84887909507
SN - 9781467355582
T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
SP - 627
EP - 632
BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
T2 - 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Y2 - 4 August 2013 through 7 August 2013
ER -