{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,2]],"date-time":"2022-04-02T07:02:31Z","timestamp":1648882951338},"reference-count":17,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,1,1]],"date-time":"2009-01-01T00:00:00Z","timestamp":1230768000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,1]]},"abstract":"SUMMARY<\/jats:title>In this paper obtaining the optimal configuration of the dual-arm cam-lock (DACL) robot at a specific point is addressed. The objective is to optimize the applicable task-space force in a desired direction. The DACL robot is a reconfigurable manipulator formed by two parallel cooperative arms. The arms normally operate redundantly but when needed, they can lock into each other in certain joints in order to achieve a higher stiffness, while losing some degrees of freedom. Furthermore, the dynamics of the DACL robot is discussed and parametrically formulated. Considering the geometrical constraints at a given point in the robot's workspace, the optimum configuration for maximizing the cooperatively applicable force by dual arms is determined.<\/jats:p>","DOI":"10.1017\/s0263574708004463","type":"journal-article","created":{"date-parts":[[2008,4,11]],"date-time":"2008-04-11T13:11:30Z","timestamp":1207919490000},"page":"13-18","source":"Crossref","is-referenced-by-count":3,"title":["Optimal configuration of dual-arm cam-lock robot based on task-space manipulability"],"prefix":"10.1017","volume":"27","author":[{"given":"Kambiz Ghaemi","family":"Osgouie","sequence":"first","affiliation":[]},{"given":"Ali","family":"Meghdari","sequence":"additional","affiliation":[]},{"given":"Saeed","family":"Sohrabpour","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,1,1]]},"reference":[{"key":"S0263574708004463_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000362"},{"key":"S0263574708004463_ref8","unstructured":"8. Kokkinis T. and Paden B. , \u201cKinetostatic Performance Limits of Cooperating Robot Manipulators Using Force-velocity Polytopes,\u201d Proceedings of ASME Winter Annual Meeting-Robotics Research, San Francisco, (1989) pp. 151\u2013155."},{"key":"S0263574708004463_ref17","volume-title":"Parallel Robots","author":"Merlet","year":"2006"},{"key":"S0263574708004463_ref15","doi-asserted-by":"crossref","unstructured":"15. Meghdari A. , \u201cThe Cooperative Dual-arm Cam-Lock Manipulator,\u201d Proceedings Of the IEEE International Conference on Robotics for Automation, San Diego, CA, USA (1994) vol. 2, pp. 1279\u20131285.","DOI":"10.1109\/ROBOT.1994.351310"},{"key":"S0263574708004463_ref3","unstructured":"3. Dauchez P. and Uchiyama M. , \u201cKinematic Formulation for Two Force-controlled Cooperating Robots,\u201d Proceedings of the 3rd International Conference of Advanced Robotics, Versailles, France (1987) pp. 457\u2013467."},{"key":"S0263574708004463_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700019615"},{"key":"S0263574708004463_ref13","doi-asserted-by":"crossref","first-page":"615","DOI":"10.1017\/S0263574704001213","article-title":"Dynamic model and simulation of cooperative robots: A case study","volume":"23","author":"Lau","year":"2005","journal-title":"Robotica"},{"key":"S0263574708004463_ref4","doi-asserted-by":"crossref","unstructured":"4. Nakamura Y. , Nagai K. and Yoshikawa T. , \u201cMechanics of Coordinative Manipulation by Multiple Robotic Mechanisms,\u201d Proceedings of the IEEE International Conference on Robotics Automation, Raleigh, NC (1987) pp. 991\u2013998.","DOI":"10.1109\/ROBOT.1987.1087941"},{"key":"S0263574708004463_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102314"},{"key":"S0263574708004463_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600304"},{"key":"S0263574708004463_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/70.97880"},{"key":"S0263574708004463_ref16","unstructured":"16. Meghdari A. , \u201cConceptual Design and Characteristics of a Dual-arm Cam-Lock Manipulator,\u201d Proceedings Of the ASCE SPACE-94 International Conference on Robotics for Challenging Environments, Albuquerque, N.M., USA (1994) pp. 140\u2013148."},{"key":"S0263574708004463_ref11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005411"},{"key":"S0263574708004463_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700502"},{"key":"S0263574708004463_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"S0263574708004463_ref1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"S0263574708004463_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/70.88020"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004463","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,4]],"date-time":"2019-04-04T21:43:39Z","timestamp":1554414219000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004463\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,1]]},"references-count":17,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2009,1]]}},"alternative-id":["S0263574708004463"],"URL":"http:\/\/dx.doi.org\/10.1017\/s0263574708004463","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,1]]}}}
