Optimal synthesis of parallel robots' actuators stiffness for given combinations of twist and wrench sets
| Autor: | Or David, Moshe Shoham |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Optimization problem Computer science Mechanical Engineering Parallel manipulator Stiffness Bioengineering 02 engineering and technology Computer Science Applications law.invention Computer Science::Robotics 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Mechanics of Materials Control theory law medicine Robot medicine.symptom Wrench Actuator Joint (geology) ComputingMethodologies_COMPUTERGRAPHICS Stiffness matrix |
| Zdroj: | Mechanism and Machine Theory. 135:17-26 |
| ISSN: | 0094-114X |
| DOI: | 10.1016/j.mechmachtheory.2019.01.021 |
| Popis: | Robot stiffness synthesis, with the goal of obtaining given instantaneous displacements for known loads, may result in a non-feasible stiffness matrix. This paper presents a stiffness synthesis scheme that generates a feasible stiffness matrix, which, for a known set of wrenches, results in optimized end-effector twists as close as possible to the given ones. This was achieved by minimizing the variance between the given and the actual motion screw parameters formulated as a non-linear optimization problem. This approach is demonstrated in an artificial spinal disc joint that consists of a passive parallel robot structure, designed to resemble the natural motion of adjacent spine vertebrae under a known set of loads. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect