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Parametric optimization of a four-link close-chain manipulator with active and passive actuators

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We investigate the problem of optimization of motion laws and design parameters of a four-link manipulator with a closed-chain kinematic structure. The manipulator performs cyclic transfer operations in a horizontal plane under the action of active and passive (springs and dampers) actuators. As a minimization criterion, we take a quadratic (with respect to control moments of forces) functional. An algorithm is proposed for constructing a suboptimal solution of the formulated problem based on parametrization of the generalized coordinates of the manipulator with a family of given functions and on the use of numerical procedures of mathematical programming.

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Authors and Affiliations

  1. Pidstryhach Institute for Applied Problems of Mechanics and Mathematics, Ukrainian National Academy of Sciences, Lviv, Ukraine

    M. V. Demydyuk

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  1. M. V. Demydyuk
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Translated from Matematychni Metody ta Fizyko-Mekhanichni Polya, Vol. 52, No. 1, pp. 193–202, January–March, 2009.

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Demydyuk, M.V. Parametric optimization of a four-link close-chain manipulator with active and passive actuators. J Math Sci 168, 746–758 (2010). https://doi.org/10.1007/s10958-010-0023-x

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  • DOI: https://doi.org/10.1007/s10958-010-0023-x

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