6533b834fe1ef96bd129d6d9

RESEARCH PRODUCT

Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming

Matthew MurrayGeir HovlandTorgny Brogardh

subject

Computer scienceMechanical Engineeringparallell kinematic machine sigularity avoidance assembly mode reconfigurationVDP::Technology: 500::Mechanical engineering: 570::Machine construction and engineering technology: 571Mode (statistics)Control reconfigurationKinematicsWorkspaceCondensed Matter PhysicsUSableMechanics of MaterialsControl theoryLaser trackerPath (graph theory)Integer programming

description

Pulished version of an article in the journal: Meccanica. Also available from the publisher at: http://dx.doi.org/10.1007/s11012-010-9404-y This paper presents a systematic approach based on Mixed Integer Linear Programming for finding an optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of the prototype. The toolpoint positions have been verified by using measurements from a high precision laser tracker. © 2010 Springer Science+Business Media B.V.

yearjournalcountryeditionlanguage
2010-12-24
http://hdl.handle.net/11250/136810