Abstract—

Performance measures have been utilized for numerous applications in robotics research. In this paper, the manipulability and dexterity indices have been focused. These indices have been used successfully when parallel robots have either completely revolute or prismatic joints. But, in a manipulator with both revolute and prismatic joints, these may not be used because of the dimensional inconsistency of the components in the Jacobian matrix. Moreover, in the kinematic or dynamic case, for manipulability and dexterity analysis, the Euclidean norm for the velocity inputs is considered while the velocity inputs for active joints are generally independent; therefore, the manipulability and dexterity indices are explained based on the infinity-norm. Thus, the final solution is represented by the new concept of mixed manipulability polytope. Next, an example of the 3-RPC parallel robot is analyzed based on the notion of this index. As an application, the index is applied for trajectory planning in multi-objective optimal control. For this, one of the direct methods of optimal control, dynamic programming (DP), is selected. But for the DP, the genetic algorithm (GA) is used for searching the optimum path. This analysis is applied for a novel PU-3RPR redundant parallel manipulator. First, the parallel mechanism is introduced, and the kinematics and Jacobian analysis is discussed. Then the objective function that minimizes the pseudo kinetic energy and maximizes the index, is adopted for an optimization problem. Finally, the trajectory of the PU-3RPR redundant parallel mechanism is planned by the proposed GA-DP method.

中文翻译：

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具有棱柱形旋转致动器的并联机构的新型可操纵性，GA-DP轨迹规划应用

摘要-

性能指标已被用于机器人技术的众多应用中。在本文中，可操作性和灵巧性指标已被关注。当平行机器人完全旋转或棱柱形关节时，这些索引已成功使用。但是，在同时具有旋转关节和棱柱关节的操纵器中，由于雅可比矩阵中组件的尺寸不一致，因此可能无法使用这些关节。此外，在运动学或动态情况下，对于可操纵性和灵巧性分析，考虑了速度输入的欧几里得范数，而活动关节的速度输入通常是独立的。因此，基于无穷范数来说明可操作性和灵巧性指标。因此，最终的解决方案以混合可操作性多形体的新概念为代表。下一个，基于该索引的概念分析了3-RPC并行机器人的示例。作为一种应用，该指标适用于多目标最优控制中的轨迹规划。为此，选择了最佳控制的直接方法之一，即动态编程（DP）。但是对于DP，则使用遗传算法（GA）来搜索最佳路径。该分析适用于新型PU-3RPR冗余并联机械手。首先，介绍了并联机构，并讨论了运动学和雅可比分析。然后将最小化拟动能并最大化指标的目标函数用于优化问题。最后，通过提出的GA-DP方法来规划PU-3RPR冗余并行机制的轨迹。