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Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces

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Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces

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dc.contributor.author Valero Chuliá, Francisco José es_ES
dc.contributor.author Díaz-Rodríguez, Miguel es_ES
dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Besa Gonzálvez, Antonio José es_ES
dc.contributor.author Bernabeu Soler, Enrique Jorge es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.date.accessioned 2021-11-05T14:11:31Z
dc.date.available 2021-11-05T14:11:31Z
dc.date.issued 2020-08 es_ES
dc.identifier.issn 0957-4158 es_ES
dc.identifier.uri http://hdl.handle.net/10251/176463
dc.description.abstract [EN] This paper aims to develop an approach for the reconfiguration of a parallel kinematic manipulator (PKM) with four degrees of freedom (DoF) designed to tackle tasks of diagnosis and rehabilitation in an injured knee. The original layout of the 4-DoF manipulator presents Type-II singular configurations within its workspace. Thus, we proposed to reconfigure the manipulator for avoiding such singularities (owing to the Forward Jacobian of the PKM) during typical rehabilitation trajectories. We achieve the reconfiguration of the PKM through a minimization problem where the design variables correspond to the anchoring points of the robot limbs on fixed and mobile platforms. The objective function relies on the minimization of the forces exert by the actuators for a specific trajectory. The minimization problem considers constraints equations to avoid Type-II singularities, which guarantee the feasibility of the active generalized coordinates for a particular path. To evaluate the proposed conceptual strategy, we build a prototype where reconfiguration occurs by moving the position of the anchoring points to holes bored in the fixed and mobile platforms. Simulations and experiments of several study cases enable testing the strategy performance. The results show that the reconfiguration strategy allows obtaining trajectories having minimum actuation forces without Type-II singularities. es_ES
dc.description.sponsorship This work was supported by the Spanish Ministry of Education, Culture and Sports through the Project for Research and Technological Development with ref. DPI2017-84201-R. es_ES
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof Mechatronics es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Reconfigurable parallel robots es_ES
dc.subject Optimization problem es_ES
dc.subject Singularity avoidance es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.mechatronics.2020.102382 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-84201-R/ES/INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLES/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI//DPI2017-84201-R//Integración de modelos biomecánicos en el desarrollo y operación de robots rehabilitadores reconfigurables/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.description.bibliographicCitation Valero Chuliá, FJ.; Díaz-Rodríguez, M.; Vallés Miquel, M.; Besa Gonzálvez, AJ.; Bernabeu Soler, EJ.; Valera Fernández, Á. (2020). Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces. Mechatronics. 69:1-13. https://doi.org/10.1016/j.mechatronics.2020.102382 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.mechatronics.2020.102382 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 13 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 69 es_ES
dc.relation.pasarela S\426117 es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES


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