Title: Maximum isotropic force capability maps in redundant planar cooperative systems

Authors: Leonardo Mejia Rincon; Roberto Simoni; Juan Camilo Herrera; Henrique Simas; Daniel Martins

Addresses: Department of Engineering, Federal University of Santa Catarina, Blumenau, Santa Catarina, CEP: 89036-004, Brazil ' Department of Mobility Engineering, Federal University of Santa Catarina, Joinville, Santa Catarina, CEP: 89.219-600, Brazil ' Department of Mechanical Engineering, Federal University of Santa Catarina, Florianópolis, Santa Catarina, CEP: 88040-900, Brazil ' Department of Mechanical Engineering, Federal University of Santa Catarina, Florianópolis, Santa Catarina, CEP: 88040-900, Brazil ' Department of Mechanical Engineering, Federal University of Santa Catarina, Florianópolis, Santa Catarina, CEP: 88040-900, Brazil

Abstract: In robotics, the force capability is defined as the maximum wrench that can be applied (or sustained) by a manipulator. The concept of isotropic force capability appeared as a subset of the classic force capability and it was formally defined as the maximum magnitude of force that a robot can apply or support in all directions according to a given posture. A relevant condition which must be studied is when there is load distribution processes between cooperative robotic systems, e.g., when two or more arms are carrying the same load, if the load distribution fails, one of the arms may overload causing structural or material damage during the process. The main objective of this paper is to develop a method to determine the area in the workspace of a cooperative robotic system composed by two redundant planar serial manipulators (4R), which presents the maximum isotropic force capability. The isotropic force capability maps are generated for three different load's orientations and working modes.

Keywords: isotropic force capability; cooperative robotic system; Davies' method; differential evolution algorithm; screw theory.

DOI: 10.1504/IJMRS.2018.096297

International Journal of Mechanisms and Robotic Systems, 2018 Vol.4 No.4, pp.323 - 338

Received: 15 Mar 2018
Accepted: 10 Jul 2018
Published online: 22 Nov 2018 *

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