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Dimensional Synthesis of a Robotic Arm for Mobile Manipulator Using an Interactive Geo-metric Software

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New Advances in Mechanism and Machine Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 57))

Abstract

This paper aims to demonstrate a systematic procedure for the structural selection and dimensional synthesis of the arm to be integrated into a mobile manipulator. The manipulator will be utilized for Bots2ReC H2020 project which aims at developing an autonomous robotic solution for removing asbestos contamination from real world-rehabilitation sites. The synthesis procedure is initiated by identifying requirements and constraints on the mobile manipulator. The Interactive Geometric Software (IGS) is used to carry out the preliminary synthesis. The synthesis procedure highlights the utility of IGS in developing the conceptual and dimensional design of the arm and assesses its performance to satisfy given requirements and constraints. Redundancy is used to meet the desired requirements while satisfying the constraints.

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Acknowledgements

The Bots2ReC (Robots to Re-Construction, www.bots2rec.eu) project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No 687593.

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Authors and Affiliations

  1. Institut Pascal, SIGMA Clermont, Université Clermont Auvergne, CNRS, 63000, Clermont-Ferrand, France

    S. Maraje, J. C. Fauroux & B. C. Bouzgarrou

  2. Institut Pascal, Université Clermont Auvergne, CNRS, 63000, Clermont-Ferrand, France

    L. Adouane

Authors
  1. S. Maraje
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  2. J. C. Fauroux
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  3. B. C. Bouzgarrou
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  4. L. Adouane
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Corresponding author

Correspondence to J. C. Fauroux .

Editor information

Editors and Affiliations

  1. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Ioan Doroftei

  2. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Cezar Oprisan

  3. Mechanical Systems Engineering Department, Machine Building Faculty, Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. Mechatronics Department, Mechanical Engineering Faculty, Politehnica University of Timisoara, Timişoara, Romania

    Erwin Christian Lovasz

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Cite this paper

Maraje, S., Fauroux, J.C., Bouzgarrou, B.C., Adouane, L. (2018). Dimensional Synthesis of a Robotic Arm for Mobile Manipulator Using an Interactive Geo-metric Software. In: Doroftei, I., Oprisan, C., Pisla, D., Lovasz, E. (eds) New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, vol 57. Springer, Cham. https://doi.org/10.1007/978-3-319-79111-1_25

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  • DOI: https://doi.org/10.1007/978-3-319-79111-1_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-79110-4

  • Online ISBN: 978-3-319-79111-1

  • eBook Packages: EngineeringEngineering (R0)

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