An intuitive approach for the structural synthesis of serial robotic manipulator subject to specific motion constraints is presented in this paper. According to the required f-DOF αRβT motion of the end-effector, for f = 2, 3, … or 6 and α, β = 0, 1, 2 or 3, all feasible serial-type robot structures can be systematically generated via the proposed method. The approach begins at the enumeration of joint connectivity, proceeds with the assignment of joint types, and continues by the consideration of motion constraints for the robot. A couple of examples, including the synthesis of the 3-, 4- and 5-DOF serial manipulators, are furnished for illustration. It shows that this method is especially exploitable when the end-effector is required to be immovable in certain orientations or directions with respect to either local coordinate system or global coordinate system. The result is particularly beneficial for practical industrial applications.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Structural Synthesis of Serial Robotic Manipulators Subject to Specific Motion Constraints Available to Purchase
Chin-Hsing Kuo,
Chin-Hsing Kuo
King’s College London, London, UK
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Jian S. Dai
Jian S. Dai
King’s College London, London, UK
Search for other works by this author on:
Chin-Hsing Kuo
King’s College London, London, UK
Jian S. Dai
King’s College London, London, UK
Paper No:
DETC2010-28947, pp. 907-915; 9 pages
Published Online:
March 8, 2011
Citation
Kuo, C, & Dai, JS. "Structural Synthesis of Serial Robotic Manipulators Subject to Specific Motion Constraints." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 907-915. ASME. https://doi.org/10.1115/DETC2010-28947
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