Force-Controlled Pose Optimization and Trajectory Planning for Chained Stewart Platforms

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dc.contributor.authorBeach, Benjaminen
dc.contributor.authorChapin, Williamen
dc.contributor.authorGlassner, Samanthaen
dc.contributor.authorHildebrand, Roberten
dc.contributor.authorKomendera, Eriken
dc.date.accessioned2024-01-23T14:37:51Zen
dc.date.available2024-01-23T14:37:51Zen
dc.date.issued2023-11-24en
dc.description.abstractIntroduction: We study optimization methods for poses and movements of chained Stewart platforms (SPs) that we call an “Assembler” Robot. These chained SPs are parallel mechanisms that are stronger, stiffer, and more precise, on average, than their serial counterparts at the cost of a smaller range of motion. By linking these units in a series, their individual limitations are overcome while maintaining truss-like rigidity. This opens up potential uses in various applications, especially in complex space missions in conjunction with other robots. Methods: To enhance the efficiency and longevity of the Assembler Robot, we developed algorithms and optimization models. The main goal of these methodologies is to efficiently decide on favorable positions and movements that reduce force loads on the robot, consequently minimizing wear. Results: The optimized maneuvers of the interior plates of the Assembler result in more evenly distributed load forces through the legs of each constituent SP. This optimization allows for a larger workspace and a greater overall payload capacity. Our computations primarily focus on assemblers with four chained SPs. Discussion: Although our study primarily revolves around assemblers with four chained SPs, our methods are versatile and can be applied to an arbitrary number of SPs. Furthermore, these methodologies can be extended to general over-actuated truss-like robot architectures. The Assembler, designed to function collaboratively with several other robots, holds promise for a variety of space missions.en
dc.description.notesSubmitted in April 2022en
dc.description.versionAccepted versionen
dc.format.extent23 page(s)en
dc.format.mimetypeapplication/pdfen
dc.identifierARTN 1225828 (Article number)en
dc.identifier.doihttps://doi.org/10.3389/fmech.2023.1225828en
dc.identifier.eissn2297-3079en
dc.identifier.issn2297-3079en
dc.identifier.orcidKomendera, Erik [0000-0001-6760-6662]en
dc.identifier.orcidHildebrand, Robert [0000-0002-2730-0084]en
dc.identifier.urihttps://hdl.handle.net/10919/117602en
dc.identifier.volume9en
dc.language.isoenen
dc.publisherFrontiersen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectoptimizationen
dc.subjectnonlinear programmingen
dc.subjectroboticsen
dc.subjectkinematicsen
dc.subjectStewart platformen
dc.subjectmodularen
dc.subjectforcesen
dc.titleForce-Controlled Pose Optimization and Trajectory Planning for Chained Stewart Platformsen
dc.title.serialJournal of Field Roboticsen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten
dc.type.otherArticleen
pubs.organisational-group/Virginia Techen
pubs.organisational-group/Virginia Tech/Engineeringen
pubs.organisational-group/Virginia Tech/Engineering/Industrial and Systems Engineeringen
pubs.organisational-group/Virginia Tech/Engineering/Mechanical Engineeringen
pubs.organisational-group/Virginia Tech/All T&R Facultyen
pubs.organisational-group/Virginia Tech/Engineering/COE T&R Facultyen

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