, Volume 46, Issue 1, pp 101–111 | Cite as

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

  • Matthew Murray
  • Geir Hovland
  • Torgny Brogårdh
Parallel Manipulators


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.


Parallel kinematic machine Singularity avoidance Assembly mode Reconfiguration 


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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Matthew Murray
    • 1
  • Geir Hovland
    • 2
  • Torgny Brogårdh
    • 3
  1. 1.University of QueenslandBrisbaneAustralia
  2. 2.University of AgderGrimstadNorway
  3. 3.ABB Corporate ResearchVästeråsSweden

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