Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

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 a...

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Bibliographic Details
Published inApplied sciences Vol. 6; no. 3; p. 80
Main Authors Lin, Chih-Jer, Chen, Chun-Ta
Format Journal Article
LanguageEnglish
Published MDPI AG 01.03.2016
Subjects
dynamic wrench
hierarchical optimization
parallel robot
reconfiguration
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ISSN2076-3417
2076-3417
DOI10.3390/app6030080

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Summary: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.
ISSN:2076-3417
2076-3417
DOI:10.3390/app6030080