Dimensional Synthesis of a Robotic Arm for Mobile Manipulator Using an Interactive Geo-metric Software

Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 57)


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.


Structural selection Dimensional synthesis Skeleton modeling Interactive geometric software Redundant architecture Mobile manipulator 



The Bots2ReC (Robots to Re-Construction, project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No 687593.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Institut Pascal, SIGMA ClermontUniversité Clermont Auvergne, CNRSClermont-FerrandFrance
  2. 2.Institut PascalUniversité Clermont Auvergne, CNRSClermont-FerrandFrance

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