Singularity-Free Reconfiguration of the 5-DOF Gantry-Tau Parallel Kinematic Machine
نویسنده
چکیده
This paper presents a systematic approach based on Mixed Integer Linear Programming for finding a near optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of the prototype.
منابع مشابه
Kinematic and Elastostatic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ration further by allowing a change of assembly mode without internal link collisions or collisions between the links and end-effector. The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation a...
متن کاملVerification of the Dynamics of the 5-dof Gantry-tau Parallel Kinematic Machine
In this paper the 5-DOF dynamics of a full-scale parallel kinematic machine (PKM) is verified. The dynamics of PKMs are more difficult and computational expensive than the dynamics for serial machines. To our knowledge, this is the first time that such a dynamics verification has been published. The experimental results show that the dynamics model fits the experiments with errors in the range ...
متن کاملCollision-Free Workspace Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Machine
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces an optimisation scheme based on the geometric approach for the wo...
متن کاملDesign and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator
This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...
متن کاملKinematic and Elastodynamic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the...
متن کامل