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Design analysis and optimization of 6-DOF telemanipulator based on performance indices

Published online by Cambridge University Press:  14 September 2018

Seungnam Yu ,
Soonwoong Hwang ,
Jongkwang Lee ,
Byungsuk Park  and
Hyojik Lee
Seungnam Yu*
Affiliation:
Korea Atomic Energy Research Institute, Yuseong-gu, Daejeon 34057, Korea
Soonwoong Hwang
Affiliation:
Hanyang University, Sangnok-gu, Ansan, Gyeonggi-do 15588, Korea
Jongkwang Lee
Affiliation:
Korea Atomic Energy Research Institute, Yuseong-gu, Daejeon 34057, Korea
Byungsuk Park
Affiliation:
Korea Atomic Energy Research Institute, Yuseong-gu, Daejeon 34057, Korea
Hyojik Lee
Affiliation:
Korea Atomic Energy Research Institute, Yuseong-gu, Daejeon 34057, Korea
*
*Corresponding author. E-mails: snyu@kaeri.re.kr, hswfile@gmail.com, leejk@kaeri.re.kr, nbspark@kaeri.re.kr, hyojik@kaeri.re.kr
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Summary

In contrast to general industrial robots, which are operated in normal environments and are easily accessible by human workers, telemanipulators are typically designed to perform specific and extreme tasks in hazardous areas. Teleoperation systems are difficult-to-equip fully intuitive or automated control systems because these are the kinds of manipulator systems used as substitutes to perform tasks that humans have to guide directly because they may require tough, sensitive, or sophisticated handling motions. Basically, these kinds of tasks are difficult to remotely perform through a slave manipulator operated by a human unless modification and optimization of the system are conducted. In this regard, the target system dealt within this study has similar disadvantages even though it has a high degree of freedom (DOF) arm structure. The performance of the current system was quantitatively evaluated to optimize the structure according to the considered main tasks. This work presents the various performance indices utilized and analyzes the current design of the considered telemanipulator system. An optimal design approach using the parameters associated with the frequent motions of the considered 6-DOF telemanipulator is then proposed based on the conducted analyses.

Keywords

TelemanipulatorPerformance indexCondition numberManipulability ellipsoidModified dynamic conditioning index
Type
Articles
Information
Robotica , Volume 36 , Issue 12 , December 2018 , pp. 1822 - 1835
Copyright
Copyright © Cambridge University Press 2018 

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