Trajectory planning of parallel kinematic manipulators for the maximum dynamic load-carrying capacity
The objective of this paper is to identify the trajectory that accomplishes the assigned motion with the maximum dynamic load-carrying capacity (DLCC) which is subject to constraints imposed by the kinematics and dynamics of a manipulator structure. In this study, the possible trajectories of the ma...
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| Published in | Meccanica (Milan) Vol. 51; no. 8; pp. 1653 - 1674 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Dordrecht
Springer Netherlands
01.08.2016
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| Online Access | Get full text |
| ISSN | 0025-6455 1572-9648 |
| DOI | 10.1007/s11012-015-0308-8 |
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| Abstract | The objective of this paper is to identify the trajectory that accomplishes the assigned motion with the maximum dynamic load-carrying capacity (DLCC) which is subject to constraints imposed by the kinematics and dynamics of a manipulator structure. In this study, the possible trajectories of the manipulator are modeled using a parametric path representation, the optimal trajectory is then obtained using a two-loop of optimization process, in which the inner-loop optimization process based on the Simplex-type linear programming method is used to determine the dynamic loading at each discrete point along the presumed trajectory and then to formulate the DLCC; the outer-loop optimization process based on the particle swarm optimization algorithm is to solve the controlled points by maximizing the formulated DLCC. The numerical results confirm the feasibility of the optimized trajectories and demonstrate the effectiveness of the proposed algorithm for the maximum dynamic load-carrying trajectory planning of a parallel kinematic manipulator. |
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| AbstractList | The objective of this paper is to identify the trajectory that accomplishes the assigned motion with the maximum dynamic load-carrying capacity (DLCC) which is subject to constraints imposed by the kinematics and dynamics of a manipulator structure. In this study, the possible trajectories of the manipulator are modeled using a parametric path representation, the optimal trajectory is then obtained using a two-loop of optimization process, in which the inner-loop optimization process based on the Simplex-type linear programming method is used to determine the dynamic loading at each discrete point along the presumed trajectory and then to formulate the DLCC; the outer-loop optimization process based on the particle swarm optimization algorithm is to solve the controlled points by maximizing the formulated DLCC. The numerical results confirm the feasibility of the optimized trajectories and demonstrate the effectiveness of the proposed algorithm for the maximum dynamic load-carrying trajectory planning of a parallel kinematic manipulator. |
| Author | Liao, Te-Tan Chen, Chun-Ta |
| Author_xml | – sequence: 1 givenname: Chun-Ta surname: Chen fullname: Chen, Chun-Ta email: chenct@ntnu.edu.tw organization: Department of Mechatronic Engineering, National Taiwan Normal University – sequence: 2 givenname: Te-Tan surname: Liao fullname: Liao, Te-Tan organization: Department of Mechanical Engineering, Far East University |
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| CitedBy_id | crossref_primary_10_1007_s10409_018_0761_4 crossref_primary_10_1017_S0263574718000851 crossref_primary_10_1109_ACCESS_2020_3016726 crossref_primary_10_1016_j_rcim_2017_01_005 crossref_primary_10_1016_j_mechmachtheory_2018_11_014 crossref_primary_10_1177_1687814020913667 crossref_primary_10_3390_act9040106 crossref_primary_10_1007_s11012_020_01304_0 crossref_primary_10_1007_s11012_021_01464_7 crossref_primary_10_5194_ms_15_587_2024 crossref_primary_10_3390_app9132770 |
| Cites_doi | 10.1109/ICNN.1995.488968 10.1002/(SICI)1097-4563(200005)17:5<233::AID-ROB1>3.0.CO;2-Y 10.1007/s11071-011-0095-2 10.1109/MED.2006.328835 10.1109/ROBIO.2006.340296 10.1177/0954406211434485 10.1115/1.3152647 10.1007/s11071-011-0020-8 10.1007/s00170-007-1169-7 10.1109/ROBOT.2005.1570153 10.1002/rob.20045 10.1016/j.mechmachtheory.2006.05.006 10.1016/S0921-8890(03)00043-5 10.1016/S1474-6670(17)65584-8 10.1109/70.285588 10.1007/978-3-540-30301-5 10.1109/TRO.2004.829473 10.1115/1.3258705 10.1007/s10846-007-9137-x 10.1177/027836498900800601 10.1007/s00170-003-1868-7 10.1007/978-94-010-9587-7 10.1016/S0094-114X(00)00059-8 10.1016/0921-8890(96)00010-3 10.1016/j.euromechsol.2004.02.006 10.1016/0736-5845(95)00026-7 10.1109/4235.985692 10.1243/095440602321029481 |
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| Keywords | Dynamic load-carrying capacity Parallel kinematic manipulator Trajectory planning Two-loop of optimization |
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| References_xml | – reference: ShillerZDubowskySRobot path planning with obstacles, actuator, gripper, and payload constraintsInt J Robot Res1989831810.1177/027836498900800601 – reference: MerletJ-PParallel Robots20002BerlinSpringer10.1007/978-94-010-9587-70983.70002 – reference: PugazhenthiSNagarajanTSingaperumalMOptimal trajectory planning for a hexapod machine tool during contour machiningProc Inst Mech Eng Pt C2002216121247125610.1243/095440602321029481 – reference: Kennedy J, Eberhart R (1995) Particle swarm optimization. In: IEEE international conference on neural networks, Perth, WA, pp 1942–1948 – reference: Kreisselmeier G, Steinhauser R (1979) Systematic control design by optimizing a vector performance index. In: Proceedings of IFAC symposium Computer-aided design control system, Zurich, Switzerland, pp. 113–117 – reference: ChettibiT LehtihetHEHaddadMHanchi SMinimum cost trajectory planning for industrial robotsEur J Mech A 199623470371510.1016/j.euromechsol.2004.02.0061060.70016 – reference: OenKTWangLCOptimal dynamic trajectory planning for linearly actuated platform type parallel manipulators having task space redundant degree of freedomMech Mach Theory200742727750230666310.1016/j.mechmachtheory.2006.05.0061330.70037 – reference: ParkJBobrowJEReliable computation of minimum-time motions for manipulators moving in obstacle field using a successive search for minimum-overload trajectoriesJ Robot Syst200522111410.1002/rob.200451133.70317 – reference: ConstantinescuDCroftASmooth and time-optimal trajectory planning for industrial manipulators along specified pathsJ Robot Syst200017523324910.1002/(SICI)1097-4563(200005)17:5<233::AID-ROB1>3.0.CO;2-Y0957.70008 – reference: KhalilWGueganSInverse and direct dynamic modeling of Gough-Stewart robotsIEEE Trans Robot Autom200420475476210.1109/TRO.2004.829473 – reference: ChenCTPhamHVTrajectory planning in parallel manipulators using a constrained multi-objective evolutionary algorithmNonlinear Dyn201267216691681287061310.1007/s11071-011-0095-2 – reference: ThomasMYuan-ChouHCTesarDRobotic manipulators based on local dynamic criteriaJ Mech Transmiss Autom Des198510716316910.1115/1.3258705 – reference: ClercMKennedyJThe particle swarm-explosion, stability, and convergence in a multidimensional complex spaceIEEE Trans Evol Comput200261587310.1109/4235.985692 – reference: Afroum M, Chettibi T, Hanchi S (2006) Planning optimal motions for a DELTA parallel Robot. In: IEEE 14th Mediterranean conference on control and automation, Ancona, Italy, pp. 1-6 (2006) – reference: WangLTRavaniBDynamic load carrying capacity of mechanical manipulators: part I and IIJ Dyn Syst Meas Control19881101466110.1115/1.3152647 – reference: Korayem M, Shokri M (2006) Maximum dynamic load carrying capacity of 6UPS Stewart platform flexible joint Manipulator. In: Proceeding of IEEE international conference on robotic and biomimetic, Kunming, China, pp 727–736 – reference: WangLTKuoMJDynamic load-carrying capacity and inverse dynamics of multiple cooperating robotic manipulatorsIEEE Trans Robot Autom19941017177245820610.1109/70.285588 – reference: SaravananRRamabalanSBalamuruganCEvolutionary optimal trajectory planning for industrial robot with payload constraintsInt J Adv Manuf Technol2008381213122610.1007/s00170-007-1169-7 – reference: ShillerZChangHWongVThe practical implementation of time-optimal control for robotic manipulatorsRobot Comput Integr Manuf1996121293910.1016/0736-5845(95)00026-7 – reference: Abdellatif H, Heimann B (2005) Adapted time-optimal trajectory planning for parallel manipulators with full dynamic modeling. In: Proceedings of IEEE international conference on robotics and automation, Barcelona, Spain, pp. 411–416 (2005) – reference: SicilianoBKhatibOHandbook of Robotics2008BerlinSpringer10.1007/978-3-540-30301-51171.93300 – reference: YueSTsoSKXuWLMaximum-dynamic-payload trajectory for flexible robot manipulators with kinematic redundancyMech Mach Theory20013678580010.1016/S0094-114X(00)00059-81140.70450 – reference: KhalilWIbrahimOGeneral solution for the dynamic modeling of parallel robotsJ Intell Robot Syst200749193710.1007/s10846-007-9137-x – reference: YunWXiYOptimum motion planning in joint space for robots using genetic algorithmsRobot Autonom Syst1996184373393143696810.1016/0921-8890(96)00010-3 – reference: KorayemMGharibluHMaximum allowable load on wheeled mobile manipulators imposing redundancy constraintsJ Robot Autonom Syst200344215115910.1016/S0921-8890(03)00043-5 – reference: KorayemMGharibluHBasuADynamic load-carrying capacity of mobile-base flexible joint manipulatorsInt J Adv Manuf Technol200525627010.1007/s00170-003-1868-7 – reference: AfrounMDequidtAVermeirenLRevisiting the inverse dynamics of the Gough-Stewart platform manipulator with special emphasis on universal-prismatic-spherical leg and internal singularityProc Inst Mech Eng Pt C2012226102422243910.1177/0954406211434485 – reference: ChenCTHybrid approach for dynamic model identification of an electro-hydraulic parallel platformNonlinear Dyn.201267169571110.1007/s11071-011-0020-8 – ident: 308_CR27 doi: 10.1109/ICNN.1995.488968 – volume: 17 start-page: 233 issue: 5 year: 2000 ident: 308_CR7 publication-title: J Robot Syst doi: 10.1002/(SICI)1097-4563(200005)17:5<233::AID-ROB1>3.0.CO;2-Y – volume: 67 start-page: 1669 issue: 2 year: 2012 ident: 308_CR21 publication-title: Nonlinear Dyn doi: 10.1007/s11071-011-0095-2 – ident: 308_CR11 doi: 10.1109/MED.2006.328835 – ident: 308_CR19 doi: 10.1109/ROBIO.2006.340296 – volume: 226 start-page: 2422 issue: 10 year: 2012 ident: 308_CR22 publication-title: Proc Inst Mech Eng Pt C doi: 10.1177/0954406211434485 – volume: 110 start-page: 46 issue: 1 year: 1988 ident: 308_CR13 publication-title: J Dyn Syst Meas Control doi: 10.1115/1.3152647 – volume: 67 start-page: 695 issue: 1 year: 2012 ident: 308_CR20 publication-title: Nonlinear Dyn. doi: 10.1007/s11071-011-0020-8 – volume: 38 start-page: 1213 year: 2008 ident: 308_CR25 publication-title: Int J Adv Manuf Technol doi: 10.1007/s00170-007-1169-7 – ident: 308_CR10 doi: 10.1109/ROBOT.2005.1570153 – volume: 22 start-page: 1 issue: 1 year: 2005 ident: 308_CR8 publication-title: J Robot Syst doi: 10.1002/rob.20045 – volume: 42 start-page: 727 year: 2007 ident: 308_CR12 publication-title: Mech Mach Theory doi: 10.1016/j.mechmachtheory.2006.05.006 – volume: 44 start-page: 151 issue: 2 year: 2003 ident: 308_CR16 publication-title: J Robot Autonom Syst doi: 10.1016/S0921-8890(03)00043-5 – ident: 308_CR26 doi: 10.1016/S1474-6670(17)65584-8 – volume: 10 start-page: 71 issue: 1 year: 1994 ident: 308_CR15 publication-title: IEEE Trans Robot Autom doi: 10.1109/70.285588 – volume-title: Handbook of Robotics year: 2008 ident: 308_CR2 doi: 10.1007/978-3-540-30301-5 – volume: 20 start-page: 754 issue: 4 year: 2004 ident: 308_CR23 publication-title: IEEE Trans Robot Autom doi: 10.1109/TRO.2004.829473 – volume: 107 start-page: 163 year: 1985 ident: 308_CR14 publication-title: J Mech Transmiss Autom Des doi: 10.1115/1.3258705 – volume: 49 start-page: 19 year: 2007 ident: 308_CR24 publication-title: J Intell Robot Syst doi: 10.1007/s10846-007-9137-x – volume: 8 start-page: 3 year: 1989 ident: 308_CR3 publication-title: Int J Robot Res doi: 10.1177/027836498900800601 – volume: 25 start-page: 62 year: 2005 ident: 308_CR17 publication-title: Int J Adv Manuf Technol doi: 10.1007/s00170-003-1868-7 – volume-title: Parallel Robots year: 2000 ident: 308_CR1 doi: 10.1007/978-94-010-9587-7 – volume: 36 start-page: 785 year: 2001 ident: 308_CR18 publication-title: Mech Mach Theory doi: 10.1016/S0094-114X(00)00059-8 – volume: 18 start-page: 373 issue: 4 year: 1996 ident: 308_CR4 publication-title: Robot Autonom Syst doi: 10.1016/0921-8890(96)00010-3 – volume: 23 start-page: 703 issue: 4 year: 1996 ident: 308_CR5 publication-title: Eur J Mech A doi: 10.1016/j.euromechsol.2004.02.006 – volume: 12 start-page: 29 issue: 1 year: 1996 ident: 308_CR6 publication-title: Robot Comput Integr Manuf doi: 10.1016/0736-5845(95)00026-7 – volume: 6 start-page: 58 issue: 1 year: 2002 ident: 308_CR28 publication-title: IEEE Trans Evol Comput doi: 10.1109/4235.985692 – volume: 216 start-page: 1247 issue: 12 year: 2002 ident: 308_CR9 publication-title: Proc Inst Mech Eng Pt C doi: 10.1243/095440602321029481 |
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| SubjectTerms | Algorithms Automotive Engineering Civil Engineering Classical Mechanics Dynamics Kinematics Loads (forces) Manipulators Mechanical Engineering Optimization Parallel Manipulators Physics Physics and Astronomy Robot arms Trajectories |
| Title | Trajectory planning of parallel kinematic manipulators for the maximum dynamic load-carrying capacity |
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