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The Design Considerations of Manipulators
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Abstract
This paper presents algorithms to evaluate various kinematic properties of manipulators and then studies how to utilize the obtained result in the design of manipulators. The manipulability, workspace volume, and force transmissivity of various serial chains are first evaluated. The obtained data are compared and listed on tables that can be used for designing serial and in-parallel manipulators. A modular approach is used for designing in-parallel manipulators. The optimum design of the platform and serial chains are obtained independently. The modules are then assembled into in-parallel manipulators according to the rules proposed in this work.
American Society of Mechanical Engineers
Title: The Design Considerations of Manipulators
Description:
Abstract
This paper presents algorithms to evaluate various kinematic properties of manipulators and then studies how to utilize the obtained result in the design of manipulators.
The manipulability, workspace volume, and force transmissivity of various serial chains are first evaluated.
The obtained data are compared and listed on tables that can be used for designing serial and in-parallel manipulators.
A modular approach is used for designing in-parallel manipulators.
The optimum design of the platform and serial chains are obtained independently.
The modules are then assembled into in-parallel manipulators according to the rules proposed in this work.
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