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Optimal configuration of dual-arm cam-lock robot based on task-space manipulability

Ghaemi Osgouie , K ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574708004463
  3. Publisher: 2009
  4. Abstract:
  5. In this paper obtaining the optimal configuration of the dual-arm cam-lock (DACL) robot at a specific point is addressed. The objective is to optimize the applicable task-space force in a desired direction. The DACL robot is a reconfigurable manipulator formed by two parallel cooperative arms. The arms normally operate redundantly but when needed, they can lock into each other in certain joints in order to achieve a higher stiffness, while losing some degrees of freedom. Furthermore, the dynamics of the DACL robot is discussed and parametrically formulated. Considering the geometrical constraints at a given point in the robot's workspace, the optimum configuration for maximizing the cooperatively applicable force by dual arms is determined. © 2008 Cambridge University Press
  6. Keywords:
  7. Manipulator Optimization ; Cams ; Manipulators ; Optimization ; Robotic arms ; Robotics ; Adaptive Configuration ; Degrees of freedoms ; Dual arms ; Dual-arm Robot ; Geometrical constraints ; Manipulability ; Optimal configurations ; Optimum configurations ; Reconfigurable ; Robot's workspaces ; Robots
  8. Source: Robotica ; Volume 27, Issue 1 , 2009 , Pages 13-18 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/optimal-configuration-of-dualarm-camlock-robot-based-on-taskspace-manipulability/604F07693808483B9242AA8FCE7EBF5B