Trajectory Modeling of CaPaMan (Cassino Parallel Manipulator) by using4

In this paper a general procedure devoted to trajectory optimization is presented. This procedure is used for optimizing the trajectory of a parallel manipulator named CaPaMan (Cassino Parallel Manipulator) by using a performance criterion that includes the mechanical energy and the total traveling time. The resulting scalar objective function is then minimized. The trajectory is represented by 4th order B-splines, which produce quadratic acceleration curves and linear jerk. Numerical results from the optimization procedure are presented to illustrate the efficiency of the proposed formulation. Genetic algorithms are used in the optimizer for obtaining these results. Keyword: Optimization, Parallel Manipulators, Dynamics, Path Planning.