Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Semi-Isotropically Optimized Stewart Platform Manipulator Design with Actuator Stroke Constraint
The isotropic property has been a general use in the context of kinematic design optimization of robotic manipulators. In this paper, the semi-isotropic home or neutral configuration of a semi-regular Stewart platform manipulator has been designed by introducing the stroke constraint of all the legs through the assessment of new actuator variable termed as ‘fractional excess margin’ of actuation. The constrained optimization problem structured with the quadratic functions relating all the rotational and translational motion of the tool center point and the actuator stroke. The numerical solution obtained from the system of nonlinear equations has been interpreted graphically through the analysis of the ‘fractional excess margin’ for prescribed single degree of motions of Stewart platform manipulator. Finally, a trade-off has been made between the goals of optimum semi-isotropic design configuration and that of the configuration with the actuators in the legs of the least stroke requirement.
Semi-Isotropically Optimized Stewart Platform Manipulator Design with Actuator Stroke Constraint
The isotropic property has been a general use in the context of kinematic design optimization of robotic manipulators. In this paper, the semi-isotropic home or neutral configuration of a semi-regular Stewart platform manipulator has been designed by introducing the stroke constraint of all the legs through the assessment of new actuator variable termed as ‘fractional excess margin’ of actuation. The constrained optimization problem structured with the quadratic functions relating all the rotational and translational motion of the tool center point and the actuator stroke. The numerical solution obtained from the system of nonlinear equations has been interpreted graphically through the analysis of the ‘fractional excess margin’ for prescribed single degree of motions of Stewart platform manipulator. Finally, a trade-off has been made between the goals of optimum semi-isotropic design configuration and that of the configuration with the actuators in the legs of the least stroke requirement.
Semi-Isotropically Optimized Stewart Platform Manipulator Design with Actuator Stroke Constraint
J. Inst. Eng. India Ser. C
Halder, Biswajit (Autor:in)
Journal of The Institution of Engineers (India): Series C ; 101 ; 881-889
01.10.2020
9 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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