Automatic generation of a minimal set of serial mechanisms for a combined structural - Geometrical synthesis

verfasst von
D. Ramirez, J. Kotlarski, T. Ortmaier
Abstract

In this paper, an approach for the automatic structural synthesis of serial robot manipulators is proposed. Unlike existing methods, the parameters that can be used subsequently in a geometrical synthesis are obtained for every architecture as result of the presented approach. A modified motion vector is introduced in order to take into account different orientations of the robot base. This vector is used to generate a set of feasible architectures. Additionally, conditions for the evaluation of the presence of isomorphisms in this set of architectures are introduced. Finally, an example of a manipulator with four degrees of freedom is given to clarify the advantage of the proposed method.

Organisationseinheit(en)
Institut für Mechatronische Systeme
Typ
Aufsatz in Konferenzband
Publikationsdatum
2015
Publikationsstatus
Veröffentlicht
Peer-reviewed
Ja
ASJC Scopus Sachgebiete
Maschinenbau, Verlauf
Elektronische Version(en)
https://doi.org/10.6567/IFToMM.14TH.WC.OS13.047 (Zugang: Unbekannt)