Details
| Original language | English |
|---|---|
| Title of host publication | 2015 IFToMM World Congress Proceedings, IFToMM 2015 |
| Publisher | National Taiwan University of Science and Technology |
| ISBN (electronic) | 9789860460988 |
| Publication status | Published - 2015 |
| Event | 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015 - Taipei, Taiwan Duration: 25 Oct 2015 → 30 Oct 2015 |
Publication series
| Name | 2015 IFToMM World Congress Proceedings, IFToMM 2015 |
|---|
Abstract
In this paper, an approach for the automatic structural synthesis of serial robot manipulators is proposed. Unlike existing methods, the parameters that can be used subsequently in a geometrical synthesis are obtained for every architecture as result of the presented approach. A modified motion vector is introduced in order to take into account different orientations of the robot base. This vector is used to generate a set of feasible architectures. Additionally, conditions for the evaluation of the presence of isomorphisms in this set of architectures are introduced. Finally, an example of a manipulator with four degrees of freedom is given to clarify the advantage of the proposed method.
Keywords
- Denavit-Hartenberg parameters, Isomorphisms, Robot design, Serial manipulators, Structural synthesis
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
- Arts and Humanities(all)
- History
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2015 IFToMM World Congress Proceedings, IFToMM 2015. National Taiwan University of Science and Technology, 2015. (2015 IFToMM World Congress Proceedings, IFToMM 2015).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Automatic generation of a minimal set of serial mechanisms for a combined structural - Geometrical synthesis
AU - Ramirez, D.
AU - Kotlarski, J.
AU - Ortmaier, T.
PY - 2015
Y1 - 2015
N2 - In this paper, an approach for the automatic structural synthesis of serial robot manipulators is proposed. Unlike existing methods, the parameters that can be used subsequently in a geometrical synthesis are obtained for every architecture as result of the presented approach. A modified motion vector is introduced in order to take into account different orientations of the robot base. This vector is used to generate a set of feasible architectures. Additionally, conditions for the evaluation of the presence of isomorphisms in this set of architectures are introduced. Finally, an example of a manipulator with four degrees of freedom is given to clarify the advantage of the proposed method.
AB - In this paper, an approach for the automatic structural synthesis of serial robot manipulators is proposed. Unlike existing methods, the parameters that can be used subsequently in a geometrical synthesis are obtained for every architecture as result of the presented approach. A modified motion vector is introduced in order to take into account different orientations of the robot base. This vector is used to generate a set of feasible architectures. Additionally, conditions for the evaluation of the presence of isomorphisms in this set of architectures are introduced. Finally, an example of a manipulator with four degrees of freedom is given to clarify the advantage of the proposed method.
KW - Denavit-Hartenberg parameters
KW - Isomorphisms
KW - Robot design
KW - Serial manipulators
KW - Structural synthesis
UR - http://www.scopus.com/inward/record.url?scp=85018975138&partnerID=8YFLogxK
U2 - 10.6567/IFToMM.14TH.WC.OS13.047
DO - 10.6567/IFToMM.14TH.WC.OS13.047
M3 - Conference contribution
AN - SCOPUS:85018975138
T3 - 2015 IFToMM World Congress Proceedings, IFToMM 2015
BT - 2015 IFToMM World Congress Proceedings, IFToMM 2015
PB - National Taiwan University of Science and Technology
T2 - 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
Y2 - 25 October 2015 through 30 October 2015
ER -