Towards Optimized Parallel Robots for Human-Robot Collaboration by Combined Structural and Dimensional Synthesis

Parallel robots (PR) offer potential for human-robot collaboration (HRC) due to their lower moving masses and higher speeds. However, the parallel leg chains increase the risks of collision and clamping. In this work, these hazards are described by kinematics and kinetostatics models to minimize the...

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Veröffentlicht in:	arXiv.org 2024-08
Hauptverfasser:	Aran Mohammad, Seel, Thomas, Schappler, Moritz
Format:	Artikel
Sprache:	eng
Schlagworte:	Clamping Collaboration Cooperation Eigenvalues Kinematics Mass matrix Multiple objective analysis Pareto optimization Particle swarm optimization Robots Synthesis
Online-Zugang:	Volltext
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