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

Published online by Cambridge University Press:  05 June 2014

Behnoush Rezaeian Jouybari ,
Kambiz Ghaemi Osgouie  and
Ali Meghdari
Behnoush Rezaeian Jouybari
Affiliation:
School of Science and Engineering, Sharif University of Technology, International Campus, Kish Island, Iran
Kambiz Ghaemi Osgouie*
Affiliation:
Department of Mechatronics, University of Tehran, Kish International Campus, Kish Island, Iran
Ali Meghdari
Affiliation:
Center of Excellence in Design, Robotics, and Automation, School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
*
*Corresponding author. E-mail: kambiz_osgouie@ut.ac.ir
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Summary

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.

Keywords

Redundant manipulatorsMotion planningMulti-robot systemsParallel manipulatorsPath planning

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 1 , January 2016 , pp. 23 - 42
Copyright
Copyright © Cambridge University Press 2014 

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