Task-optimized parallel manipulators

This research focuses on the optimization of parallel mechanisms, a specific class of robotic mechanisms, such that an optimal design guarantees that a desired task, having certain requirements, is able to be completed by the mechanism. The Inria Sophia Antipolis Coprin project (now the Hephaistos project) have worked on the development of interval analysis algebraic geometry tools. These tools greatly extend the possibilities of improving both the analysis and optimization algorithms used in this research, providing guaranteed results. The application of such tools is very exciting since it may be possible to verify that a resulting design is indeed optimal. The outcome from this research project will be the development of a set of interval-based algorithms for the optimal determination of a parallel mechanism for a desired task.

Faculty Supervisor:

Juan Carretero

Student:

Joshua Kevin Pickard

Partner:

Discipline:

Engineering - mechanical

Sector:

University:

University of New Brunswick

Program:

Globalink Research Award