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

Published online by Cambridge University Press:  01 January 2009

Kambiz Ghaemi Osgouie ,
Ali Meghdari  and
Saeed Sohrabpour
Kambiz Ghaemi Osgouie
Affiliation:
Center of Excellence in Design, Robotics and Automation, Sharif University of Technology, 11365-9567, Tehran(IRAN). E-mail: osgouie@mech.sharif.edu, sohrabpour@sharif.edu
Ali Meghdari*
Affiliation:
Center of Excellence in Design, Robotics and Automation, Sharif University of Technology, 11365-9567, Tehran(IRAN). E-mail: osgouie@mech.sharif.edu, sohrabpour@sharif.edu
Saeed Sohrabpour
Affiliation:
Center of Excellence in Design, Robotics and Automation, Sharif University of Technology, 11365-9567, Tehran(IRAN). E-mail: osgouie@mech.sharif.edu, sohrabpour@sharif.edu
*
*Corresponding author. E-mail: meghdari@sharif.edu
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Summary

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.

Keywords

Dual-arm RobotDynamic OptimizationManipulator OptimizationAdaptive Configuration
Type
Article
Information
Robotica , Volume 27 , Issue 1 , January 2009 , pp. 13 - 18
Copyright
Copyright © Cambridge University Press 2008

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