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)