NDLI: Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming

Content Provider	Springer Nature Link
Author	Murray, Matthew Hovland, Geir Brogårdh, Torgny
Copyright Year	2010
Abstract	This paper presents a systematic approach based on Mixed Integer Linear Programming for finding an optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of the prototype. The toolpoint positions have been verified by using measurements from a high precision laser tracker.
Starting Page	101
Ending Page	111
Page Count	11
File Format	PDF
ISSN	00256455
Journal	Meccanica
Volume Number	46
Issue Number	1
e-ISSN	15729648
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-12-24
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Parallel kinematic machine Singularity avoidance Assembly mode Reconfiguration Mechanical Engineering Automotive Engineering Civil Engineering Mechanics
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Condensed Matter Physics Mechanical Engineering

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Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming