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- Type of Document: Ph.D. Dissertation
- Language: Farsi
- Document No: 39126 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Meghdari, Ali; Sohrabpour, Saeed
- Abstract:
- The dual-arm cam-lock robot is a reconfigurable and adaptive robotic arm. The novel design of this robot allows it to manipulate the objects either by cooperation of two completely independent arms, or with locking proper links in each other and featuring the advantages of a parallel manipulator. Depending on the position of the cam-locked links, the robot may lose a few degrees of freedom and gain a different dynamic condition from the view point of the consumed energy, stiffness, dexterity, and etc. So the best configuration of the robot can be selected to perform the desired task, considering all possible configurations of the robot. In this dissertation, formulation and implementation of a method is considered to select the best configuration for the robot for manipulating the object located at a desired location. This method is based on the task-space cooperative dynamic manipulability ellipsoid. On the other hand, the constraints over the motion of the robot are comprehensively discussed. The free configuration of the robot (not cam-locked) is taken to be redundant. So finding the best configuration for the robot is an optimization problem. Two methods are discussed for finding the optimal configuration: Sequential Quadratic Programming and Genetic Algorithm. The results for both methods are taken and compared. It is shown that there are local optimals and a global zero-order optimization technique is suitable for obtaining the optimum
- Keywords:
- Genetic Algorithm ; Dynamic Optimization ; Dual Arm Robot ; Cam Lock ; Adaptive Mechanism
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