This project was done during my part-time collaboration with Human-Robot Interaction Laboratory in University of Tehran under the supervision of Dr. M. T. Masouleh. In the first step of this project we solved the inverse and forward kinematics of a relatively new parallel manipulator.

The planar parallel manipulator analyzed in this project. The outer layer of this ring is geared and motors on end of each link move them around the circumference of the ring.

In the next step, we used principle of virtual work to extract the equations governing the dynamics of this robot. These equations were verified by simulation results from MSC ADAMS. This was followed by linearization of the equations of motion and derivation of minimal set of inertial parameters with a method based on SVD. Finally, by implementing genetic algorithm we were able to optimize energy consumption of robot on a defined trajectory by simply adding lumps of mass on the links. This optimization resulted in over 50% reduction in Euclidean norm of applied torques.

The results were presented at 4th international conference on Knowledge-Based Engineering and Innovations (KBEI 2017). The published results is available at the link below:


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