Task based kinematic design of a two DOF manipulator with a parallelogram five-bar link mechanism

被引:24
作者
Kim, J. Y. [1 ]
机构
[1] Tongmyong Univ Informat Technol, Dept Mechatron Engn, Pusan 608711, South Korea
关键词
task based design; five-bar link mechanism; task specification; manipulator specification; optimality criterion; measure of dynamic isotropy;
D O I
10.1016/j.mechatronics.2006.01.004
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
As the demand for modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for given tasks become more and more important. However, manipulator design problems usually are very complex due to a large number of design parameters, their nonlinear and implicit relationship, and so on. To achieve task based design successfully, it is necessary to develop a methodology that can solve the complexity. This paper addresses how to determine the kinematic parameters of a two degrees of freedom manipulator with a parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With a simplified example of designing a manipulator with a five-bar link mechanism, a methodology for task based design is presented. And it introduces formulations of task specifications and manipulator specifications, and presents a new dexterity measure as an optimality criterion for manipulator design. Also it finds out an optimal design solution for the manipulator by using a genetic algorithm that has robust search performance in complex spaces. (C) 2006 Elsevier Ltd. All rights reserved.
引用
收藏
页码:323 / 329
页数:7
相关论文
共 17 条
[1]  
[Anonymous], 1989, GENETIC ALGORITHM SE
[2]   A GEOMETRICAL REPRESENTATION OF MANIPULATOR DYNAMICS AND ITS APPLICATION TO ARM DESIGN [J].
ASADA, H .
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1983, 105 (03) :131-&
[3]  
ASADA H, 1984, T ASME, V106, P225
[4]   Optimal kinematic design of 2-DOF parallel manipulators with well-shaped workspace bounded by a specified conditioning index [J].
Huang, T ;
Li, M ;
Li, ZX ;
Chetwynd, DG ;
Whitehouse, DJ .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (03) :538-543
[5]  
INOUE K, 1993, 24 INT S IND ROB, P729
[6]  
KHATIB O, 1987, INT J ROBOT AUTOM, V2, P90
[7]  
KIM JO, 1992, IEEE RSJ INT C INT R, P279
[8]  
KIM JO, 1992, THESIS CARNEGIE MELL
[9]  
KRISHNAN A, 1989, THESIS CARNEGIE MELL
[10]   Manipulability and static stability of parallel manipulators [J].
Müller, A .
MULTIBODY SYSTEM DYNAMICS, 2003, 9 (01) :1-23