Skip to main content
SpringerLink
Log in
Book cover

New Advances in Mechanisms, Mechanical Transmissions and Robotics pp 279–286Cite as

A Method for Structural Synthesis of Cooperative Mobile Manipulators

  • Conference paper
  • First Online:

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 46))

Abstract

This paper deals with the design of cooperative mobile manipulators, that are not simply considered as the union of an existing mobile platform with an arm, leading to a highly redundant system, but as a system redesigned from scratch with an original minimal kinematics suitable for robot-robot collaboration. In order to design cooperative mobile manipulators adequate with the environment and the considered task, functional specifications are first expressed and partially translated into constraints on the structural parameters, both for single robotic units (m-bots) and the poly-robot resulting of the cooperation (p-bot). This method allows to obtain a set of robotic architectures that also verify other functional specifications.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Alizade, R., Bayram, Ç.: Structural synthesis of parallel manipulators. Mech. Mach. Theory 39(8), 857–870 (2004)

    Google Scholar 

  2. Chebab, Z.E., Fauroux, J.C., Bouton, N., Mezouar, Y., Sabourin, L.: Autonomous collaborative mobile manipulators: State of the art. In: Symposium on Theory of Machines and Mechanisms/UMTS2015/TrISToMM, June 14–17, 2015, Izmir, Turkey, 8p. IZTECH/IFTOMM

    Google Scholar 

  3. Effra: ‘Factories of the Future 2020’: Roadmap 2014–2020. http://www.effra.eu

  4. Fédération des Industries de Mécanique: Guide pratique de l\(^{\prime }\)Usine du Futur Enjeux et panorama de solutions. Technical report (2015). http://industriedufutur.fim.net

  5. Gogu, G.: Structural Synthesis of Parallel Robots. Part 1—Methodology. Springer (2008)

    Google Scholar 

  6. Hichri, B., Fauroux, J.C., Adouane, L., Doroftei, I., Mezouar, Y.: Lifting mechanism for payload transport by collaborative mobile robots. In: New Trends in Mechanism and Machine Science, pp. 157–165. Springer (2015)

    Google Scholar 

  7. IFToMM: IFToMM online dictionary. http://iftomm.3me.tudelft.nl/2057/frames.html

  8. Kim, W., Lee, S.E., Yi, B.J.: Mobility analysis of planar mobile robots. In: IEEE International Conference on Robotics and Automation, ICRA’02, vol. 3, pp. 2861–2867. IEEE (2002)

    Google Scholar 

Download references

Acknowledgments

This project acknowledges the financial support of the following entities: LabEx IMobS\(^3\) Innovative Mobility: Smart and Sustainable Solutions, the French National Centre for Scientific Research (CNRS), Auvergne Regional Council and the European funds of regional development (FEDER).

Author information

Authors and Affiliations

  1. Université Clermont Auvergne, Sigma-Clermont, Institut Pascal, BP 10448, 63000, Clermont-Ferrand, France

    Z.-E. Chebab, J.-C. Fauroux, G. Gogu, N. Bouton, L. Sabourin & Y. Mezouar

  2. CNRS, UMR 6602, Institut Pascal, 63178, Aubière, France

    Z.-E. Chebab, J.-C. Fauroux, G. Gogu, N. Bouton, L. Sabourin & Y. Mezouar

Authors
  1. Z.-E. Chebab
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. J.-C. Fauroux
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. G. Gogu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. N. Bouton
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. L. Sabourin
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Y. Mezouar
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to J.-C. Fauroux .

Editor information

Editors and Affiliations

  1. RWTH Aachen University, Aachen, Germany

    Burkhard Corves

  2. University Politehnica of Timisoara , Timisoara, Romania

    Erwin-Christian Lovasz

  3. RWTH Aachen University Dept of Mechanism Theory, Aachen, Nordrhein-Westfalen, Germany

    Mathias Hüsing

  4. University Politehnica of Timisoara , Timisoara, Romania

    Inocentiu Maniu

  5. University Politehnica of Timisoara, Timisoara, Romania

    Corina Gruescu

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Chebab, ZE., Fauroux, JC., Gogu, G., Bouton, N., Sabourin, L., Mezouar, Y. (2017). A Method for Structural Synthesis of Cooperative Mobile Manipulators. In: Corves, B., Lovasz, EC., Hüsing, M., Maniu, I., Gruescu, C. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science, vol 46. Springer, Cham. https://doi.org/10.1007/978-3-319-45450-4_28

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-45450-4_28

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-45449-8

  • Online ISBN: 978-3-319-45450-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation