Reconfiguration for the maximum dynamic wrench capability of a parallel robot

Chih Jer Lin, Chun Ta Chen

研究成果: 雜誌貢獻文章

1 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
文章編號80
期刊Applied Sciences (Switzerland)
6
發行號3
DOIs
出版狀態已發佈 - 2016 一月 1

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

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