Dimensional Synthesis of a Robotic Arm for Mobile Manipulator Using an Interactive Geo-metric Software
- 786 Downloads
This paper aims to demonstrate a systematic procedure for the structural selection and dimensional synthesis of the arm to be integrated into a mobile manipulator. The manipulator will be utilized for Bots2ReC H2020 project which aims at developing an autonomous robotic solution for removing asbestos contamination from real world-rehabilitation sites. The synthesis procedure is initiated by identifying requirements and constraints on the mobile manipulator. The Interactive Geometric Software (IGS) is used to carry out the preliminary synthesis. The synthesis procedure highlights the utility of IGS in developing the conceptual and dimensional design of the arm and assesses its performance to satisfy given requirements and constraints. Redundancy is used to meet the desired requirements while satisfying the constraints.
KeywordsStructural selection Dimensional synthesis Skeleton modeling Interactive geometric software Redundant architecture Mobile manipulator
The Bots2ReC (Robots to Re-Construction, www.bots2rec.eu) project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No 687593.
- 1.Arrouk KA, Bouzgarrou BC, Stan SD, Gogu G (2010) CAD based design optimization of planar parallel manipulators. Solid state phenomena, vol 166. Trans Tech Publications, pp 33–38Google Scholar
- 3.Bots2ReC The robots to re-construction project. http://www.bots2rec.eu/
- 4.Corves B (2004) Computer-aided lectures and exercises. In: Proceedings of the 11th world congress in mechanisms and machine scienceGoogle Scholar
- 7.Hohenwarter M (2017) Geogebra, the graphing calculator for functions, geometry, algebra, calculus, statistics and 3D math. www.geogebra.org
- 8.Kurtenbach S, Mannheim T, Husing M, Corves B (2013) Content and realization of mechanism theory at RWTH Aachen University. In: Proceedings of ISEMMS, pp 39–46Google Scholar
- 9.Kurtenbach S, Prause I, Weigel C, Corves B (2013) Comparison of geometry software for the synthesis and analysis in mechanism theory. In: Proceedings of ISEMMS 2013, pp 193–202Google Scholar
- 10.Ottaviano E, Ceccarelli M (2002) Optimum design of parallel manipulators for workspace and singularity performances. In: Proceedings of the workshop on fundamental issues and future research directions for parallel mechanisms and manipulators, pp 98–105Google Scholar
- 11.Prause I, Fauroux J-C, Husing M, Corves B (2015) Using geometry sketchers and CAD tools for mechanism synthesis. In: Proceedings of the 14th IFToMM World Congress, Taipei, TaiwanGoogle Scholar
- 12.Prause I, Kurtenbach S, Weigel C, Husing M, Corves B (2013) Vergleich von dynamisch interactive Geometrie software fur die massynthese von ebenen getrieben. Kolloquium Getriebetechnik, pp 39–56Google Scholar
- 13.Vijaykumar R, Waldron KJ, Tsai MJ (1986) Geometric optimization of serial chain manipulator structures for working volume and dexterity. Int J Robot Res 5:91–103Google Scholar