Influence of the assembly mode on the force capability in parallel manipulators
Leonardo Mejia1; Julio Frantz1; Henrique Simas1; Daniel Martins1
1 UFSC
doi:10.20906/CPS/COB-2015-1006
Resumo
This paper shows how different assembly modes in parallel manipulators can influence their force capability. Herein, the force capability problem in parallel manipulators is solved by the optimization of its static equations and the objective function used to optimize the force capability is defined by employing the screw theory and the Davies method as primary mathematical tools. In order to solve the problem regarding the global optimization, an evolutionary algorithm known as Differential Evolution (DE) is used. Finally, some force capability polygons are obtained for different assembly modes in two different planar parallel manipulators in order to analyse their influence.
Palavras-chave: Force capability; Assembly mode; Parallel manipulators; Optimization