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

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 a...

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Bibliographic Details
Published in:Robotica 2009-01, Vol.27 (1), p.13-18
Main Authors: Osgouie, Kambiz Ghaemi, Meghdari, Ali, Sohrabpour, Saeed
Format: Article
Language:English
Subjects:
Adaptive Configuration
Dual-arm Robot
Dynamic Optimization
Manipulator Optimization
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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.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574708004463