Volume 14, Issue 11 (2-2015)
Modares Mechanical Engineering 2015, 14(11): 127-136 |
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Rashidnejhad S, Ghaemi Osgouie K, Meghdari A. Joint Space Kinematic Optimization of the Dual-Arm Cam-Lock Robot. Modares Mechanical Engineering 2015; 14 (11) :127-136
URL: http://mme.modares.ac.ir/article-15-7669-en.html
URL: http://mme.modares.ac.ir/article-15-7669-en.html
1- Sharif University of Technology- International campus- Kish Island
2- Sharif University of Technology-International Campus-Kish Island
3- Sharif University of Technology
2- Sharif University of Technology-International Campus-Kish Island
3- Sharif University of Technology
Abstract: (5696 Views)
Kinematic trajectory optimization of the dual-arm cam-lock parallel robot in the different lock configuration has been done in this paper. A different path has been considered for each of lock configuration. The optimal trajectory of each joint has been calculated by minimizing an objective function in whole trajectory. According to the number of redundancy in the different configurations, an initial guess of the variables have been considered. Then the initial guesses have been modified and optimum results have been obtained by using Pontryagin’s minimum principles and determining the governing initial condition on the system. According to the optimal joint variable, optimal trajectory has been obtained for each of the joints. In all of the configurations, optimal performance index has been achieved. Also the direct kinematic equations have been considered as the constraints of the system.
Keywords: Dual-arm cam-lock robot, Kinematic optimization, Redundancy, Pontryagin’s minimum iprinciples
Article Type: Research Article |
Subject:
robatic|Mechatronics
Received: 2013/08/9 | Accepted: 2013/10/7 | Published: 2014/09/30
Received: 2013/08/9 | Accepted: 2013/10/7 | Published: 2014/09/30
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