Details
| Original language | English |
|---|---|
| Title of host publication | CISM International Centre for Mechanical Sciences, Courses and Lectures |
| Publisher | Springer International Publishing AG |
| Pages | 207-216 |
| Number of pages | 10 |
| Publication status | Published - 2016 |
Publication series
| Name | CISM International Centre for Mechanical Sciences, Courses and Lectures |
|---|---|
| Volume | 569 |
| ISSN (Print) | 0254-1971 |
| ISSN (electronic) | 2309-3706 |
Abstract
The present work addresses the unification of the structural and dimensional synthesis of serial robot manipulators. Unlike related publications, the approach does not utilize simplifications of the kinematic structures. In addition, it is also capable of generating manipulators with up to six degrees of freedom. The approach reduces the computational effort by automatically generating the task-suitable architectures together with their corresponding optimisation parameters. Since the kinematics modelling is one of the main challenges, an algorithm for the numerical solution of the inverse kinematics is introduced. Finally, in order to demonstrate the capability of the method, the optimal manipulator for a pick and place operation is found using kinematic performance indices and particle swarm optimisation.
Keywords
- Denavit-Hartenberg parameters, Dimensional synthesis, Robot design, Serial manipulators, Structural synthesis
ASJC Scopus subject areas
- Mathematics(all)
- Modelling and Simulation
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
Cite this
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CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG, 2016. p. 207-216 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 569).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Combined Structural and Dimensional Synthesis of Serial Robot Manipulators
AU - Ramirez, D.
AU - Kotlarski, J.
AU - Ortmaier, T.
PY - 2016
Y1 - 2016
N2 - The present work addresses the unification of the structural and dimensional synthesis of serial robot manipulators. Unlike related publications, the approach does not utilize simplifications of the kinematic structures. In addition, it is also capable of generating manipulators with up to six degrees of freedom. The approach reduces the computational effort by automatically generating the task-suitable architectures together with their corresponding optimisation parameters. Since the kinematics modelling is one of the main challenges, an algorithm for the numerical solution of the inverse kinematics is introduced. Finally, in order to demonstrate the capability of the method, the optimal manipulator for a pick and place operation is found using kinematic performance indices and particle swarm optimisation.
AB - The present work addresses the unification of the structural and dimensional synthesis of serial robot manipulators. Unlike related publications, the approach does not utilize simplifications of the kinematic structures. In addition, it is also capable of generating manipulators with up to six degrees of freedom. The approach reduces the computational effort by automatically generating the task-suitable architectures together with their corresponding optimisation parameters. Since the kinematics modelling is one of the main challenges, an algorithm for the numerical solution of the inverse kinematics is introduced. Finally, in order to demonstrate the capability of the method, the optimal manipulator for a pick and place operation is found using kinematic performance indices and particle swarm optimisation.
KW - Denavit-Hartenberg parameters
KW - Dimensional synthesis
KW - Robot design
KW - Serial manipulators
KW - Structural synthesis
UR - http://www.scopus.com/inward/record.url?scp=85051301929&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-33714-2_23
DO - 10.1007/978-3-319-33714-2_23
M3 - Contribution to book/anthology
AN - SCOPUS:85051301929
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 207
EP - 216
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing AG
ER -