In the work presented, the optimal trajectory planning in wire-actuated parallel manipulators in the presence of an obstacle is investigated. The kinematics and dynamics of a wire-actuated parallel manipulator considering the elasticity and damping effects of wires are described. The redundancy resolution of planar wire-actuated parallel manipulators is investigated at the torque level in order to perform desirable tasks to minimize the effect of impact, while maintaining positive tension in each wire. A local optimization routine is used in the simulation to minimize the tension in the wires while modifying the trajectory of the mobile platform and maintaining positive wire tensions. During collision, the tension in the wires is optimized to reduce the effect of impact, and after collision, the trajectory is modified and the wire tensions are minimized in order to avoid collision for the remainder of the trajectory. The effectiveness of the presented approach is studied through a simulation of an example planar wire-actuated manipulator.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Trajectory Planning and Impact Reduction in Wire-Actuated Parallel Manipulators With Elastic Wires
Maryam Agahi,
Maryam Agahi
Queen’s University, Kingston, ON, Canada
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Leila Notash
Leila Notash
Queen’s University, Kingston, ON, Canada
Search for other works by this author on:
Maryam Agahi
Queen’s University, Kingston, ON, Canada
Leila Notash
Queen’s University, Kingston, ON, Canada
Paper No:
DETC2010-28366, pp. 243-252; 10 pages
Published Online:
March 8, 2011
Citation
Agahi, M, & Notash, L. "Trajectory Planning and Impact Reduction in Wire-Actuated Parallel Manipulators With Elastic Wires." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 243-252. ASME. https://doi.org/10.1115/DETC2010-28366
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