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Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

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Listed:
  • Carlos Llopis-Albert

    (Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain)

  • Francisco Valero

    (Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain)

  • Vicente Mata

    (Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain)

  • José L. Pulloquinga

    (Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain)

  • Pau Zamora-Ortiz

    (Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain)

  • Rafael J. Escarabajal

    (Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain)

Abstract

This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variables correspond to the anchoring points of the limbs of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.

Suggested Citation

  • Carlos Llopis-Albert & Francisco Valero & Vicente Mata & José L. Pulloquinga & Pau Zamora-Ortiz & Rafael J. Escarabajal, 2020. "Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods," Sustainability, MDPI, vol. 12(14), pages 1-18, July.
    • Handle: RePEc:gam:jsusta:v:12:y:2020:i:14:p:5803-:d:386664
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    References listed on IDEAS

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    1. Zhen Gao & Dan Zhang, 2011. "Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom," Sustainability, MDPI, vol. 3(11), pages 1-12, November.
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    Cited by:

    1. Carlos Llopis-Albert & Francisco Rubio & Francisco Valero, 2021. "Modelling an Industrial Robot and Its Impact on Productivity," Mathematics, MDPI, vol. 9(7), pages 1-13, April.

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