TAILIEUCHUNG - Task based synthesis of serial manipulators

Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters) of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified. | Journal of Advanced Research 2015 6 479-492 Cairo University Journal of Advanced Research ORIGINAL ARTICLE Task based synthesis of serial manipulators CrossMark Sarosh Patel Tarek Sobh Robotics Intelligent Sensing and Control RISC Laboratory School of Engineering University of Bridgeport 221 University Avenue Bridgeport CT 06604 USA ARTICLE INFO ABSTRACT Article history Received 15 August 2014 Received in revised form 5 December 2014 Accepted 15 December 2014 Available online 3 January 2015 Keywords Global optimization Manipulator synthesis Simulated annealing Task-based design Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions orientations and velocities along the task trajectory. In this work we present a comprehensive method to develop the optimal geometric structure DH parameters of a non-redun-dant six degree of freedom serial manipulator from task descriptions. In this work we define develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures the structures that can reach all the task points with the required orientations are selected. Next these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints so that they can .

• Cơ khí - Chế tạo máy
• Global optimization
• Manipulator synthesis
• Simulated annealing
• Task based design
• Serial manipulators
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