Kinematic Design of Serial Link Manipulators From Task Specifications

Paredis, Christiaan J. J.; Khosla, Pradeep K.

doi:10.1177/027836499301200306

Cited by 114 publications

(45 citation statements)

References 30 publications

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“…While Dupinet E. et al [26] exploited fuzzy logic and SA for the purpose of efficiently dealing with the machine capability and manufacturing specific phenomena, such as mean shift, the back propagation method is used to train the network that generates the part tolerances. The SA was discussed for optimum kinematic design of serial link manipulators [27] and it was adopted to obtain near optimal measurement configurations of robot for calibration [28].…”

Section: Literature Reviewmentioning

confidence: 99%

Tolerance Design of Robot Parameters Using Generalized Reduced Gradient Algorithm

Trung¹,

Li²,

Long³

2017

IJMMM

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Abstract-In robot design, how to allocate tolerances for parts in manufacturing and assembling of robot is very important because this directly affects product quality and manufacturing cost. This paper introduces a technique using the Generalized Reduced Gradient algorithm optimization to allocate tolerances into robot parts. This method consists of three steps. First, based on the particular structure of robot, various methods are considered before the best method suitable for modeling the associated equation is chosen. Then, a mathematical model for tolerance allocation is formulated and transferred into the non-linear multi-variable optimization problem. Finally, this optimization problem is solved by using the Generalized Reduced Gradient algorithm. Two examples are used to verify the feasibility of the proposed method; the accuracy and effectiveness of the proposed method in producing the tolerance allocations is also illustrated via calculation and simulation results.

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Section: Literature Reviewmentioning

confidence: 99%

Tolerance Design of Robot Parameters Using Generalized Reduced Gradient Algorithm

Trung¹,

Li²,

Long³

2017

IJMMM

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“…Previous work on modular robotics include serial link manipulators that can be designed based on task specifications 4 , design of kinematic structures that can be modularly synthesized 5 , and cellular systems as self-organizing manipulators 6 . These and similar ideas on modularity has been applied to modular structures that are capable of self-reconfiguring into desired shapes.…”

Section: Introductionmentioning

confidence: 99%

<title>I(CES)-cubes: a modular self-reconfigurable bipartite robotic system</title>

Unsal

Kiliççöte

Khosla

1999

Sensor Fusion and Decentralized Control in Robotic Systems II

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In this manuscript, we introduce I(CES)-Cubes, a class of three-dimensional modular robotic system that is capable of reconfiguring itself in order to adapt to its environment. This is a bipartite system, i.e., a collection of (i) active elements capable of actuation, and (ii) passive elements acting as connectors between actuated elements. Active elements, called links, are 3-DOF manipulators that are capable of attaching/detaching themselves to/from the passive elements (cubes). The cubes can then be positioned and oriented using links, which are independent mechatronic elements. Self-reconfiguration property enables the system to perform locomotion tasks over difficult terrain. For example, the system would be capable of moving over obstacles and climbing stairs. These tasks are performed by positioning and orienting cubes and links to form a threedimensional network with required shape and position. This paper describes the design of the passive and active elements, the attachment mechanisms, and several reconfiguration scenarios. Specifics of the hardware implementation and results of experiments with current prototypes are also given.

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“…Related work in designing modular robots includes [PaKh95,PaKh93,FuKa,ChBu,Yim,NeSa,HaSa]. These papers focus on how to design and build robotic systems out of modules from a small set of component types, and how to reconfigure these systems by changing the ways in which the components are used.…”

Section: Previous Workmentioning

confidence: 99%