Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-23T17:36:09.663Z Has data issue: false hasContentIssue false
  • English
  • Français

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

Published online by Cambridge University Press:  01 January 2009

Kambiz Ghaemi Osgouie ,
Ali Meghdari  and
Saeed Sohrabpour
Kambiz Ghaemi Osgouie
Affiliation:
Center of Excellence in Design, Robotics and Automation, Sharif University of Technology, 11365-9567, Tehran(IRAN). E-mail: [email protected], [email protected]
Ali Meghdari*
Affiliation:
Center of Excellence in Design, Robotics and Automation, Sharif University of Technology, 11365-9567, Tehran(IRAN). E-mail: [email protected], [email protected]
Saeed Sohrabpour
Affiliation:
Center of Excellence in Design, Robotics and Automation, Sharif University of Technology, 11365-9567, Tehran(IRAN). E-mail: [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

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.

Keywords

Dual-arm RobotDynamic OptimizationManipulator OptimizationAdaptive Configuration
Type
Article
Information
Robotica , Volume 27 , Issue 1 , January 2009 , pp. 13 - 18
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Salisbury, J. K. and Craig, J. J., “Articulated hands: Force control and kinematic issues,” Int. J. Robot. Res. 1 (1), 4–17 (1982).CrossRefGoogle Scholar
2.Luh, J. Y. S. and Zheng, Y. F., “Constrained relations between two coordinated industrial robots for motion control,” Int. J. Robot. Res. 6 (3), 60–70 (1987).CrossRefGoogle Scholar
3.Dauchez, P. and Uchiyama, M., “Kinematic Formulation for Two Force-controlled Cooperating Robots,” Proceedings of the 3rd International Conference of Advanced Robotics, Versailles, France (1987) pp. 457–467.Google Scholar
4.Nakamura, Y., Nagai, K. and Yoshikawa, T., “Mechanics of Coordinative Manipulation by Multiple Robotic Mechanisms,” Proceedings of the IEEE International Conference on Robotics Automation, Raleigh, NC (1987) pp. 991–998.Google Scholar
5.Yoshikawa, T., “Manipulability of robotic mechanisms,” Int. J. Robot. Res. 4 (1), 3–9 (1985).CrossRefGoogle Scholar
6.Chiu, S., “Task compatibility of manipulator postures,” Int.J. Robot. Res. 7 (5), 13–21 (1988).CrossRefGoogle Scholar
7.Lee, S., “Dual redundant arm configuration optimization with task-oriented dual arm manipulability,” IEEE Trans. Robot. Autom. 5 (1), 78–97 (1989).CrossRefGoogle Scholar
8.Kokkinis, T. and Paden, B., “Kinetostatic Performance Limits of Cooperating Robot Manipulators Using Force-velocity Polytopes,” Proceedings of ASME Winter Annual Meeting-Robotics Research, San Francisco, (1989) pp. 151–155.Google Scholar
9.Chiacchio, P., Chiaverini, S., Saiavicco, L. and Siciliano, B., “Global task space manipulability ellipsoids for multiple-arm systems,” IEEE Trans. Robot. Autom. 7 (5), 678–685 (1991).CrossRefGoogle Scholar
10.Kim, C. Y. and Yoon, Y. S., “Task space dynamic analysis or multi-arm robot using isotropic velocity and acceleration radii,” Robotica 15, pp. 319–329 (1997).CrossRefGoogle Scholar
11.Krut, S., Company, O. and Pierrot, F., “Velocity performance indices for parallel mechanisms with actuation redundancy,” Robotica 22, 129–139 (2004).CrossRefGoogle Scholar
12.Klema, V. C. and Laub, A. J., “The singular value decompostion: Its computation and some applications,” IEEE Trans. Autom. Control. AC-25 (2), 164–176 (1980).CrossRefGoogle Scholar
13.Lau, J. G. and Arteaga, M. A., “Dynamic model and simulation of cooperative robots: A case study,” Robotica 23, 615–624 (2005).Google Scholar
14.Meghdari, A., “Conceptual design and dynamics modeling of a cooperative dual-arm cam-lock manipulator,” Robotica 14 (4), 301–309 (1996).CrossRefGoogle Scholar
15.Meghdari, A., “The Cooperative Dual-arm Cam-Lock Manipulator,” Proceedings Of the IEEE International Conference on Robotics for Automation, San Diego, CA, USA (1994) vol. 2, pp. 1279–1285.Google Scholar
16.Meghdari, A., “Conceptual Design and Characteristics of a Dual-arm Cam-Lock Manipulator,” Proceedings Of the ASCE SPACE-94 International Conference on Robotics for Challenging Environments, Albuquerque, N.M., USA (1994) pp. 140–148.Google Scholar
17.Merlet, J. P., Parallel Robots, 2nd ed. (Springer, 2006).Google Scholar