Combined structural and dimensional synthesis of serial robot manipulators
Date
2016-06-30Share
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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 tasksuitable
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
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