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General Information
    • ISSN: 1793-8198
    • Frequency: Quarterly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. K. M. Gupta, Prof. Ian McAndrew
    • Executive Editor: Ms. Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS), Engineering & Technology Digital Library,  ProQuest, Crossref, Ulrich's Periodicals Directory, DOAJ, and Electronic Journals Library .
    • E-mail ijmmm@ejournal.net
Editor-in-chief
Prof. Ian McAndrew
Embry Riddle Aeronautical University, UK.
It is my honor to be the editor-in-chief of IJMMM. I will do my best to help develop this journal better.

IJMMM 2015 Vol.3(2): 74-79 ISSN: 1793-8198
DOI: 10.7763/IJMMM.2015.V3.170

Optimum Design of Kinematically Redundant Planar Parallel Manipulator Following a Trajectory

K. V. Varalakshmi and J. Srinivas
Abstract—This paper presents an optimum design approach for selection of base-joint locations of a kinematically redundant parallel linkage following a desired trajectory by minimizing the active joint torques. Kinematically redundant parallel mechanisms offer several advantages such as reduced singularity loci, high dexterity indices etc. However, in path tracking problems, selection of redundant joint positions is tedious procedure due to existence of multiple solutions for inverse kinematics. Some criteria can be employed to resolve the complexity of identifying these extra degrees of freedom. In present task, joint torque minimization is considered and the problem is resolved as a static analysis formulation. The static analysis gives joint torques for known applied wrench vector and resulting torque-norm which is a function of redundant degrees of freedom (DOF) is minimized using genetic algorithms (GA). Interactive computer programs are developed for kinematics and static analysis along with binary coded GA. Results are presented using a 6-DOF, 3-PRRR planar parallel mechanism following predefined trajectories.

Index Terms—Genetic algorithms, kinematic redundancy, parallel manipulator, torque minimization.

K. V. Varalakshmi and J. Srinivas are with the National Institute of Technology, Rourkela, Odisha-769008 India (e-mail: kv.varalakshmi@gmail.com, srin07@yahoo.co.in).

[PDF]

Cite: K. V. Varalakshmi and J. Srinivas, "Optimum Design of Kinematically Redundant Planar Parallel Manipulator Following a Trajectory," International Journal of Materials, Mechanics and Manufacturing vol. 3, no. 2, pp. 74-79, 2015.

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