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Appl. Sci. 2016, 6(3), 80;

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Graduate Institute of Automation Technology, National Taipei University of Technology, 1, Section 3, Chung-Hsiao E. Road, Taipei 10608, Taiwan
Department of Mechatronic Engineering, National Taiwan Normal University, 162, Section 1, He-ping East Road, Taipei 10610, Taiwan
Author to whom correspondence should be addressed.
Academic Editor: Antonio Fernández-Caballero
Received: 10 November 2015 / Revised: 16 February 2016 / Accepted: 29 February 2016 / Published: 16 March 2016
Full-Text   |   PDF [2651 KB, uploaded 16 March 2016]   |  


In this paper, a Stewart-platform robot with sliding lockable base joints is proposed for reconfiguration, and it addresses the determination of the optimal configuration for the prescribed motion with maximum allowable dynamic wrench capability subject to the constraints imposed by the kinematics and dynamics of the proposed reconfigurable architecture. The numerical results from the hierarchical optimization process allow us to investigate the effects of the base point locations on the maximum dynamic wrench capability. The effectiveness of the proposed algorithm is demonstrated in the improvement of the maximum allowable dynamic wrench capability of the reconfigurable Stewart-platform robot. View Full-Text
Keywords: reconfiguration; parallel robot; hierarchical optimization; dynamic wrench reconfiguration; parallel robot; hierarchical optimization; dynamic wrench

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Lin, C.-J.; Chen, C.-T. Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot. Appl. Sci. 2016, 6, 80.

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