Singularity-Free Trajectory Planning of Parallel Manipulators for the Minimum Actuating Force

• Main Authors: yuh, 林顯育
• Other Authors: Chun-Ta CHEN
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/82859527265509633032

碩士 === 大葉大學 === 機械工程研究所碩士班 === 95 === Due to the existence of the singular configurations within the workspace for the Stewart platform manipulator(SPM),the actuating force demands will increase drastically as the SPM moves very near or crosses singular points. Therefore, in this paper, a numerical technique is presented to plan a singularity-free trajectory of the SPM for minimum actuating efforts and reactions. Using the parametric trajectory representation, singularity-free trajectory planning problem can be cast to the determination of undetermined control points, and then a particle swarm optimization algorithm is employed to find the optimal control points. The algorithm ensures that the obtained trajectories can avoid singular points within the workspace and the SPM has the minimum actuating efforts. Morver, base on a structured Boltzmann-Hamel-d’Alenbert approach, the closed-form dynamic equations in terms of the task-space coordinates are derived.Simulations and discussions are presented to demonstrate the effectiveness of the algorithm.