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Optimization of kinematic redundancy and workspace analysis of a dual-arm cam-lock robot

Rezaeian Jouybari, B ; Sharif University of Technology | 2016

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574714000423
  3. Publisher: Cambridge University Press , 2016
  4. Abstract:
  5. 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 are investigated to show optimal trajectories in different cam-locked configurations, and the final decision is made based on a selection table of the computed performance indices
  6. Keywords:
  7. Multi-robot systems ; Path planning ; Cams ; Decision tables ; Degrees of freedom (mechanics) ; Kinematics ; Locks (fasteners) ; Manipulators ; Motion planning ; Multipurpose robots ; Redundancy ; Redundant manipulators ; Robots ; Trajectories ; Kinematic redundancy ; Multi-robot systems ; Optimal trajectories ; Parallel manipulators ; Performance indices ; Pontryagin's minimum principles ; Reconfigurable manipulator ; Structural stiffness ; Robot programming
  8. Source: Robotica ; Volume 34, Issue 1 , 2016 , Pages 23-42 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/optimization-of-kinematic-redundancy-and-workspace-analysis-of-a-dualarm-camlock-robot/3C84A4E7AD480EFC03F712B9DCB99369