Abstract
In the present paper, an approach to generate a minimal set of serial manipulators that provide the required motion directions without redundant solutions is introduced. Besides the architectures, the Denavit-Hartenberg parameters that can be used as optimization parameters in a posterior geometrical synthesis are extracted. The motion directions are defined through a required motion vector which is modified in order to consider the orientation of the robot base. All suitable architectures are generated from a set of discrete Denavit-Hartenberg parameters. The method removes all isomorphisms from the set of suitable architectures significantly reducing the number of solutions, i.e. the computational effort. In order to illustrate the advantage of the proposed method, the number of solutions generated with and without detection of isomorphisms are given. Finally, an example of architectures with four degrees of freedom is given.
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Acknowledgments
Daniel Ramirez would like to thank Universidad Santo Tomas and also the Administrative Department of Science, Technology, and Innovation of Colombia Colciencias for financial support through the Call 529 2011.
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Ramirez, D., Kotlarski, J., Ortmaier, T. (2015). Automatic Generation of Serial Manipulators to Be Used in a Combined Structural Geometrical Synthesis. In: Corves, B., Lovasz, EC., Hüsing, M. (eds) Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 31. Springer, Cham. https://doi.org/10.1007/978-3-319-17067-1_25
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DOI: https://doi.org/10.1007/978-3-319-17067-1_25
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