کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
801996 1467780 2012 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Reconfiguration of a parallel kinematic manipulator for the maximum dynamic load-carrying capacity
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Reconfiguration of a parallel kinematic manipulator for the maximum dynamic load-carrying capacity
چکیده انگلیسی

In determining the maximum dynamic load-carrying 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-level of optimization process, in which the particle swarm optimization (PSO) algorithm is for the higher-level optimization and the Simplex-type linear programming (LP) method is for the lower-level optimization, such that the reconfiguration is achieved by re-locating 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.


► The proposed robot is a doubly planar Gough–Stewart platform.
► Base attachments can be moved along rails.
► Dynamic load-carrying capacity is optimized using the Bolzman–Hamel–d'Alembert formulation.
► A two-level optimization is adopted for the problem.
► Evolutionary algorithm is at higher level; linear optimization process is at lower one.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 54, August 2012, Pages 62–75
نویسندگان
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