Optimal Configuration of a 4-DOF Dual-Arm Cam-Lock Manipulator

摘要

The Dual-Arm Cam-Lock (DACL) robot manipulators are reconfigurable arms formed by two parallel cooperative manipulators. Some of their joints may lock into each other. Therefore, the arms normally operate redundantly. However, when higher structural stiffness is needed these two arms can lock into each other in specific joints and loose some degrees of freedom. In this paper, the dynamics of the DACL robot is discussed and parametrically formulated. On the other hand, the criteria and implementation of genetic algorithm (GA) to optimize the configuration of DACL robot manipulators at a specific point with the objective to maximize the cooperatively applicable task-space force in a desired direction are addressed. To obtain a more efficient process, an initial population is generated satisfying the geometrical constraints of the planar arms.