Abstract
In this chapter the characteristic force capability polytope of a 4RRR parallel manipulator is obtained from the optimization of its static equations. In order to solve the problem regarding the global optimization, an evolutionary algorithm known as Differential Evolution (DE) is used. The objective function of the optimization problem of force capability is defined by employing the Screws Theory and Davies’s method as a primary mathematical tool. Finally, some force capability polytopes are obtained for different kinematic positions of the manipulator.
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Mejia, L., Simas, H., Martins, D. (2014). Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_10
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DOI: https://doi.org/10.1007/978-3-319-06698-1_10
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