Task-based optimization of reconfigurable robot manipulators

Kereluk, Jason Alexander; Emami, M. Reza

doi:10.1080/01691864.2017.1362995

Cited by 19 publications

(9 citation statements)

References 11 publications

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“…Further augmentation is usually achieved via the incorporation of advanced control schemes and advanced sensing techniques [ 18 ]. In the case of modular reconfigurable robots, the added element of determining the optimal anatomy of the robot for the task to be performed provides for a great increase in task planning complexity [ 19 , 20 , 21 , 22 ]. In the case of metamorphic manipulators, the process is much more complex since a metamorphic structure best befitting the task must be determined first, then the optimal anatomy for the given task must also be determined, and finally the task is to be optimally planned for the derived optimal structure and anatomy.…”

Section: Introductionmentioning

confidence: 99%

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Stravopodis

Valsamos

Moulianitis

2022

Sensors

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The inherit complexity of the determination of the optimal anatomy and structure to task requirements and specification for metamorphic manipulators poses a significant challenge to the end user, as such methods and tools to undertake such processes are required for the implementation of metamorphic robots to real-life applications in various fields. In this work, the methodology for an offline process for the determination of the optimal anatomy maximizing performance under different requirements is presented. Such requirements considered in this work include the kinematic, kinetostatic and dynamic performance of the manipulator during task execution. The proposed methodology is then applied to a 3 D.o.F. metamorphic manipulator for different tasks. The presented results clearly show that a single metamorphic structure is able to provide the end user with different anatomies, each better suited to task specifications.

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Section: Introductionmentioning

confidence: 99%

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Stravopodis

Valsamos

Moulianitis

2022

Sensors

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“…al. [9] developed a reconfigurable 12-Degree-of-Freedom (DoF) manipulator and optimizes the number of joints to be active or locked for the prescribed task. Stravopodis et.…”

Section: Introductionmentioning

confidence: 99%

Integrated Modular Solution for Task Oriented Manipulator Configuration Design

Dogra¹,

Sakshay²,

Padhee³

et al. 2021

Preprint

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Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based optimization of the possible manipulator configurations but the solution are not integrated, for providing the modular compositions directly. In this work, in the first phase, a strategy of finding unconventional optimal configurations with minimal number of degrees-of-freedom are discussed based upon the prescribed working locations and the cluttered environment. Then, in the second phase, design of the modular and reconfigurable architecture is presented which can adapt these unconventional robotic parameters. Rather than generating and evolving the modular compositions, a strategy is presented through which the unconventional optimal configurations can be mapped directly to the modular compositions. The generated modular composition is validated using Robot Operating System for the motion planning between the prescribed working locations in a given cluttered environment.

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“…Many researchers have contributed in this domain to achieve customization using modular and reconfigurable concepts. Reconfiguration has been presented using self and manually reconfigurable modular designs [6,7], using lockable joints in [8,9] and using modular joints and links in [10,11,12,13,14]. Modular joints and links presented in these works are designed to get connected for standard configurations, such as planar chain, PUMA and SCARA configurations etc.…”

Section: Introductionmentioning

confidence: 99%

An Optimal Architectural Design for Unconventional Modular Reconfigurable Manipulation System

Dogra

Padhee

Singla

2020

Journal of Mechanical Design

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Modular and Reconfigurable manipulators have gained popularity especially in the service sector, where the use of customized configurations has increased. Adaptable modular designs have come into advances in achieving the required configuration of a robotic manipulator. As reported in the literature, various designs of the modules mainly with conventional configurations are presented and a few are reported with unconventional adjustments. To cater the non-repetitive applications, this paper presents an optimal architectural design for unconventional parameters for customized reconfigurability. This lighter and easier to connect version is also applicable to n-DoF and unconventional robotic parameters. Architecture Prominent Sectioning (APS) strategy is proposed which assumes an architecture as a set of point masses and optimally relocate components with respect to the minimization of the joint torques. Modules are considered to be 3-D printables using poly-lactic acid (PLA), a thermoplastic material, and thus light in weight. The new modular architecture design is validated through the assemblage of conventional/unconventional configurations using two types of modules namely Heavy(H) and Light(L). Along with that, worst torque analysis for the different configurations has been done in order to provide a strategy for assembly combinations. A comparative study is presented based upon the payload to the manipulator weight ratio, involving other reported architectures.

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Task-based optimization of reconfigurable robot manipulators

Cited by 19 publications

References 11 publications

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Integrated Modular Solution for Task Oriented Manipulator Configuration Design

An Optimal Architectural Design for Unconventional Modular Reconfigurable Manipulation System

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