Journal
SUSTAINABILITY
Volume 12, Issue 14, Pages -Publisher
MDPI
DOI: 10.3390/su12145803
Keywords
parallel robot; rehabilitation; reconfiguration; optimization; trajectory planning; direct singularities
Funding
- Spanish Ministry of Education, Culture and Sports [DPI2017-84201-R]
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This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variables correspond to the anchoring points of the limbs of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.
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