Combined structural and dimensional synthesis of serial robot manipulators

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dc.contributor.authorRamirez, D.spa
dc.contributor.authorKotlarski, J.spa
dc.contributor.authorOrtmaier, T.spa
dc.coverage.campusCRAI-USTA Bogotáspa
dc.date.accessioned2019-12-17T16:04:00Zspa
dc.date.available2019-12-17T16:04:00Zspa
dc.date.issued2016-06-30spa
dc.description.abstractThe 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 optimisationspa
dc.description.domainhttp://unidadinvestigacion.usta.edu.cospa
dc.format.mimetypeapplication/pdfspa
dc.identifier.doihttps://doi.org/10.1007/978-3-319-33714-2_23spa
dc.identifier.urihttp://hdl.handle.net/11634/20403
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dc.rightsAtribución-NoComercial-CompartirIgual 2.5 Colombia*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/2.5/co/*
dc.subject.keywordSerial manipulatorsspa
dc.subject.keywordRobot designspa
dc.subject.keywordStructural synthesisspa
dc.subject.keywordDimensional synthesisspa
dc.subject.keywordDenavit-Hartenberg parametersspa
dc.titleCombined structural and dimensional synthesis of serial robot manipulatorsspa
dc.type.categoryGeneración de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicosspa

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