Maximum Allowable Load of Two Cooperative Manipulators

In this paper a computational technique for determining the maximum allowable load of two cooperative manipulators for a desired trajectory of the load is presented. There are number of factors that limit the maximum allowable load of two cooperative robotic arms. With attention to configuration of cooperative manipulators with redundant actuation as a closed form chain, the most important limitation factors are dynamic properties of cooperative manipulators owing to kinematic constraints and redundancies, the actuator torque limitations, and trajectory accuracy constraints. For determining the maximum allowable load, first the kinematics and governing dynamic equations of the cooperative manipulators system are derived. Then, the total torque on each joint at each actuator is derived, and maximum load using of a computational technique is defined. The simulation study concerning two cooperative three-link manipulators shows the validity of application of the proposed algorithm to determine maximum allowable load.