Optimal reconfiguration of parallel manipulators for the maximum dynamic wrench capability

This paper proposes an optimization approach to the maximum dynamic wrench capability of a reconfigurable motor-driven parallel manipulator. The focus is on determination of the optimal reconfiguration which accomplishes the prescribed motion for the maximum dynamic wrench capability subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. In this study, the dynamics model for the dynamic wrench capability analysis is first formulated in a structured linear parameter matrix-vector form, and then the optimal configuration is obtained by a two-loop of optimization process. This geometry adjustment can be achieved by displacing the base points along the linear guideways. The numerical results present the effects of the base point locations on the maximum dynamic wrench capability and demonstrate the effectiveness of the proposed algorithm for the improvement of the maximum dynamic wrench capability of parallel manipulators.