Abstract
This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variables correspond to the anchoring points of the limbs of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.
Highlights
There has been an increasingly growing interest in the concepts, methods, theoretical framework, and applications of mobile robots [1]
Parallel kinematic manipulators (PKMs) present several advantages regarding the open-chain ones, for instance, higher velocity, accuracy, rigidity, and load capability, and they present a high potential to deal with a wide range of tasks
There is exhaustive literature dealing with optimization approaches for parallel robot trajectory planning [15,16,17]
Summary
There has been an increasingly growing interest in the concepts, methods, theoretical framework, and applications of mobile robots [1]. There is exhaustive literature dealing with optimization approaches for parallel robot trajectory planning [15,16,17] They exhibit certain disadvantages, such as limited workspace and forward kinematics singularities (FKS) [18,19,20]. The trajectory planning must consider the avoidance of the singularities within the workspace and the reduction of the actuation dynamics demands, which is carried out by the reconfiguration of the PKM This entails that passive joints, mobile platforms, rigid links, and end effectors can be assembled into several configurations with different kinematic characteristics and dynamic behaviors [21].
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