کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
802460 904392 2007 24 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Optimal dynamic trajectory planning for linearly actuated platform type parallel manipulators having task space redundant degree of freedom
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Optimal dynamic trajectory planning for linearly actuated platform type parallel manipulators having task space redundant degree of freedom
چکیده انگلیسی

Two types of dynamic trajectory planning problems associated with task space redundant degree of freedom of parallel manipulators are investigated. The first problem involves synthesizing the point-to-point trajectory of the moving platform such that the distribution of the cutting force of the tool bit along a specified machining contour is optimized. The second problem is to determine the maximum constant cutting force along the contour while maintaining an optimal distribution of the actuator forces. The numerical algorithms developed for solving these problems are based on the method of approximate programming and take into account all of the dynamic and kinematic constraints imposed on the system.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 42, Issue 6, June 2007, Pages 727–750
نویسندگان
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