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Optimal task-space manipulability of hybrid 4-DOF dual-arm cam-lock manipulators
, Article Proceeding of the 5th International Symposium on Mechatronics and its Applications, ISMA 2008, 27 May 2008 through 29 May 2008, Amman ; 2008 ; 9781424420346 (ISBN) ; Meghdari, A ; Sohrabpour, S ; Sharif University of Technology
2008
Abstract
The Dual-Arm Cam-Lock robot is a reconfigurable manipulator formed by two parallel cooperative arms. Based on the application, these arms may loose some degrees of freedom by locking into each other. However, they are considered as redundant arms when operating without any locked joints/links. In this paper, a method is introduced to find the optimal configuration of this manipulator. The objective is to find the configuration in which maximum cooperative force is exerted to an object in a specific direction. The dynamics of the robot is parametrically formulated for different configurations, and by considering the geometrical constraints optimization is performed using fine-mesh and genetic...
Optimization of kinematic redundancy and workspace analysis of a dual-arm cam-lock robot
, Article Robotica ; Volume 34, Issue 1 , 2016 , Pages 23-42 ; 02635747 (ISSN) ; Ghaemi Osgouie, K ; Meghdari, A ; Sharif University of Technology
Cambridge University Press
2016
Abstract
In this paper, the problem of obtaining the optimal trajectory of a Dual-Arm Cam-Lock (DACL) robot is addressed. The DACL robot is a reconfigurable manipulator consisting of two cooperative arms, which may act separately. These may also be cam-locked in each other in some links and thus lose some degrees of freedom while gaining higher structural stiffness. This will also decrease their workspace volume. It is aimed to obtain the optimal configuration of the robot and the optimal joint trajectories to minimize the consumed energy for following a specific task space path. The Pontryagin's Minimum Principle is utilized with a shooting method to resolve kinematic redundancy. Numerical examples...