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A min-max problem of optimal actuator placement for lifting
Published online by Cambridge University Press: 09 March 2009
Summary
The paper addresses the following problem: for a three-bar lifting linkage, find the locations of the two ends of the actuated link so as to minimize the maximum value of the force seen by the actuator over a specified range of arm angular positions. A simple analytical solution to this min-max problem is given, showing that the optimal locations are with the actuated link perpendicular either to the fixed link or to the lifting arm, when the arm is in a horizontal position. The method can be used to optimize the actuation of robots, doors, platforms, landing gears, etc., and allows to account for actuator length constraints. It can be extended also to Stewart's platform-type spatial manipulators.
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- Copyright © Cambridge University Press 1995
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