Spherical Parallel Manipulators can be effectively used for the execution of pointing tasks provided that their functional redundancy is well exploited. The present paper shows how the dynamic behavior of parallel wrists can be enhanced by optimizing their posture through suitable performance indices; the indices used in the paper are based on the manipulator inertia matrix reduced to the mobile platform, which can be readily worked out from the total kinetic energy of the wrist. First, the redundancy is solved by finding, for each pointing direction, the posture leading to the best dynamic manipulation capacity. First, the redundancy is solved by finding, for each pointing direction, the posture leading to the best dynamic manipulation capacity. and a path is planned on the surface of a sphere by means of B´ezier curves; in this case, the performance function of the optimization problem drives the platform through the spherical attitudes that grant the maximum angular accelerations along a useful direction. The theoretical results are verified in simulation for the 3-CPU manipulator by means of inverse dynamic analyses performed in a multi-body software environment; however, the developed methodology is of general use and the paper is aimed at showing how it can be applied to a whole class of spherical parallel robots.

Optimal Motion Planning for Fast Pointing Tasks with Spherical Parallel Manipulators / Corinaldi, David; Carbonari, Luca; Callegari, Massimo. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - STAMPA. - 3:2(2018), pp. 735-741. [10.1109/LRA.2018.2789845]

Optimal Motion Planning for Fast Pointing Tasks with Spherical Parallel Manipulators

Luca Carbonari
Validation
;
Massimo Callegari
Supervision
2018-01-01

Abstract

Spherical Parallel Manipulators can be effectively used for the execution of pointing tasks provided that their functional redundancy is well exploited. The present paper shows how the dynamic behavior of parallel wrists can be enhanced by optimizing their posture through suitable performance indices; the indices used in the paper are based on the manipulator inertia matrix reduced to the mobile platform, which can be readily worked out from the total kinetic energy of the wrist. First, the redundancy is solved by finding, for each pointing direction, the posture leading to the best dynamic manipulation capacity. First, the redundancy is solved by finding, for each pointing direction, the posture leading to the best dynamic manipulation capacity. and a path is planned on the surface of a sphere by means of B´ezier curves; in this case, the performance function of the optimization problem drives the platform through the spherical attitudes that grant the maximum angular accelerations along a useful direction. The theoretical results are verified in simulation for the 3-CPU manipulator by means of inverse dynamic analyses performed in a multi-body software environment; however, the developed methodology is of general use and the paper is aimed at showing how it can be applied to a whole class of spherical parallel robots.
2018
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/254095
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