Metrics and Optimization of Internal Poses for Highly Redundant Truss-Like Serialized Parallel Manipulators

TL;DR

This paper introduces a kinematic framework and optimization methodology for a highly redundant, serialized parallel manipulator called an Assembler, aimed at improving in-space assembly capabilities by minimizing actuator forces and enhancing reachability.

Contribution

It develops a novel inverse kinematics solution and pose optimization algorithm specifically for the complex, over-actuated kinematic structure of the Assembler system.

Findings

Optimized poses reduce actuator forces significantly.

Enhanced reachability for high-payload assembly tasks.

Demonstrated feasibility through simulation studies.

Abstract

This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated mixed kinematic systems. This paper also presents a methodology for optimizing poses. In order to accomplish this with the Assembler system, an algorithm for finding a feasible solution to its inverse kinematics was developed with a wrapper for a nonlinear optimization algorithm designed to minimize the magnitude of forces incurred by each actuator. A simulated version of an Assembler was placed into a number of representative poses, and the positions were optimized. The results of these optimizations are discussed in terms of actuator forces, reachability of the platform, and applicability to high-payload structure assembly capabilities.