Details
| Original language | English |
|---|---|
| Title of host publication | Mechanisms, Transmissions and Applications - Proceedings of the 3rd MeTrApp Conference, 2015 |
| Editors | Burkhard Corves, Mathias Husing, Erwin-Christian Lovasz |
| Place of Publication | Aachen, Germany |
| Publisher | Kluwer Academic Publishers |
| Pages | 239-247 |
| Number of pages | 9 |
| ISBN (print) | 9783319170664 |
| Publication status | Published - 2015 |
| Event | 3rd International Conference on Mechanisms, Transmissions and Applications, MeTrApp 2015 - Aachen, Germany Duration: 6 May 2015 → 8 May 2015 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 31 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 2211-0992 |
Abstract
In the present paper, an approach to generate a minimal set of serial manipulators that provide the required motion directions without redundant solutions is introduced. Besides the architectures, the Denavit-Hartenberg parameters that can be used as optimization parameters in a posterior geometrical synthesis are extracted. The motion directions are defined through a required motion vector which is modified in order to consider the orientation of the robot base. All suitable architectures are generated from a set of discrete Denavit-Hartenberg parameters. The method removes all isomorphisms from the set of suitable architectures significantly reducing the number of solutions, i.e. the computational effort. In order to illustrate the advantage of the proposed method, the number of solutions generated with and without detection of isomorphisms are given. Finally, an example of architectures with four degrees of freedom is given.
Keywords
- Denavit-Hartenberg parameters, Isomorphisms, Robot design, Serial manipulators, Structural synthesis
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
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Mechanisms, Transmissions and Applications - Proceedings of the 3rd MeTrApp Conference, 2015. ed. / Burkhard Corves; Mathias Husing; Erwin-Christian Lovasz. Aachen, Germany: Kluwer Academic Publishers, 2015. p. 239-247 (Mechanisms and Machine Science; Vol. 31).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Automatic generation of serial manipulators to be used in a combined structural geometrical synthesis
AU - Ramirez, Daniel
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
N1 - Funding information: Daniel Ramirez would like to thank Universidad Santo Tomas and also the Administrative Department of Science, Technology, and Innovation of Colombia Colciencias for financial support through the Call 529 2011.
PY - 2015
Y1 - 2015
N2 - In the present paper, an approach to generate a minimal set of serial manipulators that provide the required motion directions without redundant solutions is introduced. Besides the architectures, the Denavit-Hartenberg parameters that can be used as optimization parameters in a posterior geometrical synthesis are extracted. The motion directions are defined through a required motion vector which is modified in order to consider the orientation of the robot base. All suitable architectures are generated from a set of discrete Denavit-Hartenberg parameters. The method removes all isomorphisms from the set of suitable architectures significantly reducing the number of solutions, i.e. the computational effort. In order to illustrate the advantage of the proposed method, the number of solutions generated with and without detection of isomorphisms are given. Finally, an example of architectures with four degrees of freedom is given.
AB - In the present paper, an approach to generate a minimal set of serial manipulators that provide the required motion directions without redundant solutions is introduced. Besides the architectures, the Denavit-Hartenberg parameters that can be used as optimization parameters in a posterior geometrical synthesis are extracted. The motion directions are defined through a required motion vector which is modified in order to consider the orientation of the robot base. All suitable architectures are generated from a set of discrete Denavit-Hartenberg parameters. The method removes all isomorphisms from the set of suitable architectures significantly reducing the number of solutions, i.e. the computational effort. In order to illustrate the advantage of the proposed method, the number of solutions generated with and without detection of isomorphisms are given. Finally, an example of architectures with four degrees of freedom is given.
KW - Denavit-Hartenberg parameters
KW - Isomorphisms
KW - Robot design
KW - Serial manipulators
KW - Structural synthesis
UR - http://www.scopus.com/inward/record.url?scp=84944074501&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-17067-1_25
DO - 10.1007/978-3-319-17067-1_25
M3 - Conference contribution
AN - SCOPUS:84944074501
SN - 9783319170664
T3 - Mechanisms and Machine Science
SP - 239
EP - 247
BT - Mechanisms, Transmissions and Applications - Proceedings of the 3rd MeTrApp Conference, 2015
A2 - Corves, Burkhard
A2 - Husing, Mathias
A2 - Lovasz, Erwin-Christian
PB - Kluwer Academic Publishers
CY - Aachen, Germany
T2 - 3rd International Conference on Mechanisms, Transmissions and Applications, MeTrApp 2015
Y2 - 6 May 2015 through 8 May 2015
ER -