Abstract
The paper presents a digital workflow for the design and a case study of an anthropomorphous robot in which that workflow was incorporated. A streamlined workflow for the design of robots is presented. The workflow follows a rule-based algorithm, resolving the complex task structure-to-function, with minimum human interaction. The workflow offers a fast, controllable way to generate semiautomatically the different models needed on every step of the design. The geometrical model was verified by a graphical model which itself was verified by FEM static analysis. The kinematic chain is generated semiautomatically by one initial model. The kinematics of the anthropomorphous robot was simulated and visualized. The workflow is such arranged that allows fast semiautomatically development of a final product. It also has the potential to easily incorporate changes into the final product.
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Ivanov, A., Ivanova, M., Anchev, A. (2019). Mathematical Models Incorporated in a Digital Workflow for Designing an Anthropomorphous Robot. In: Silhavy, R. (eds) Cybernetics and Automation Control Theory Methods in Intelligent Algorithms. CSOC 2019. Advances in Intelligent Systems and Computing, vol 986. Springer, Cham. https://doi.org/10.1007/978-3-030-19813-8_31
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DOI: https://doi.org/10.1007/978-3-030-19813-8_31
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