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Task dependent synthesis of some geometrical parameters of a robot mechanism

Published online by Cambridge University Press:  09 March 2009

Maks Oblak  and
Karl Gotlih
Maks Oblak
Affiliation:
Faculty of Technical Sciences, Mechanical Engineering Department, University of Maribor, Smetanova 17, P.O. Box 224, 62000 Maribor (Slovenia)
Karl Gotlih
Affiliation:
Faculty of Technical Sciences, Mechanical Engineering Department, University of Maribor, Smetanova 17, P.O. Box 224, 62000 Maribor (Slovenia)
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Summary

This paper deals with the synthesis of a robot mechanism, which has an open kinematic chain structure. The aim of the synthesis is to find optimal mechanism link lengths and the elevation of the robot mechanism base, with respect to the arbitrary chosen task which is described in a task space.

A mathematical model, which describes the problem and enables one to use a nonlinear optimization algorithm, was developed. The usefulness of the approach is demonstrated by the example of the Manutec r3 mechanism with a prescribed task for the robot's end-effector.

Keywords

RoboticsKinematicsMechanism synthesisNonlinear optimizationChain structure.

Information

Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 167 - 171
Copyright
Copyright © Cambridge University Press 1993

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References

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