Automatic Generation of Serial Robot Architectures from Required Motion Directions

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Authors

  • D. Ramirez
  • Jens Kotlarski
  • Tobias Ortmaier

Research Organisations

External Research Organisations

  • Universidad Santo Tomas
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Details

Original languageEnglish
Title of host publicationAST Symposium on Automated Systems and Technologies
Place of PublicationGarbsen, Germany
Pages55-63
Publication statusPublished - 2014

Abstract

This paper presents an approach for the automatic generation of serial robot architectures, which, in comparison to existing methods, is easier to implement in a computer aided design process. From the required Cartesian translational and rotational motions along the axes of the robot base reference frame, the feasible serial robot architectures are generated using a discret set of Denavit-Hartenberg parameters and the rank of the Jacobian matrix. The method begins with the definition of the required motion through a required motion vector, which can be manipulated to take into account possible orientations of the robot base. The complete algorithm as well as an application example are given. Finally, the number of solutions generated with the proposed method are listed for serial manipulators from two to five degrees of freedom.

Cite this

Automatic Generation of Serial Robot Architectures from Required Motion Directions. / Ramirez, D.; Kotlarski, Jens; Ortmaier, Tobias.
AST Symposium on Automated Systems and Technologies. Garbsen, Germany, 2014. p. 55-63.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Ramirez, D, Kotlarski, J & Ortmaier, T 2014, Automatic Generation of Serial Robot Architectures from Required Motion Directions. in AST Symposium on Automated Systems and Technologies. Garbsen, Germany, pp. 55-63.
Ramirez, D., Kotlarski, J., & Ortmaier, T. (2014). Automatic Generation of Serial Robot Architectures from Required Motion Directions. In AST Symposium on Automated Systems and Technologies (pp. 55-63).
Ramirez D, Kotlarski J, Ortmaier T. Automatic Generation of Serial Robot Architectures from Required Motion Directions. In AST Symposium on Automated Systems and Technologies. Garbsen, Germany. 2014. p. 55-63
Ramirez, D. ; Kotlarski, Jens ; Ortmaier, Tobias. / Automatic Generation of Serial Robot Architectures from Required Motion Directions. AST Symposium on Automated Systems and Technologies. Garbsen, Germany, 2014. pp. 55-63
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