Force Capabilities of Kinematically Redundant Planar Parallel Manipulators

A methodology to evaluate force capabilities of planar parallel manipulators is presented in this paper. Different from previous approach, kinematic redundancies are handled and proper used to improve force capabilities. Add to actuators wrench parameters normally present in a force optimization problem, kinematic redundancy introduces geometric parameters to be optimized, producing non-linear and non-convex objective functions that in general can be solved using a global optimization method. To address this global optimization problem, an evolutionary algorithm called differential evolution (DE) is used. The DE algorithm is a stochastic population based method, which has been demonstrated to be an effective and robust optimization method for some global optimization problems over continuous spaces. Results for a 3-RPRR manipulator are presented and compared with a similar non-redundant manipulator 1

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