Designing Manipulators for a Robotized Manufacturing

  • M. Ceccarelli
  • L. Carrino
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)


The mechanical design of a proper manipulator can be recognized of fundamental importance to achieve a rational system layout for a robotized manufacturing. In the paper, an attempt is illustrated, both from a teaching viewpoint and with design purposes, to formulate a design methodology for manipulators taking into account the specific characteristics of a robotized manufacturing with advanced composite materials. A general analytical formulation is proposed by means of an integration between manufacturing and design concepts to stress the problem requirements and constraints, and to suggest future developments.


Mechanical Design Kinematic Chain Industrial Robot Advanced Composite Material Manipulator Kinematic Chain 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Ceccarelli, M., Cuadrado, J.I., Mata, VA. (1992). Design of Kinematic Chains for Robotic Manipulators. Journal Proyecto 2000, Pulsar, Barcelona, n. 74, 67–77.Google Scholar
  2. Crivelli Visconti, I., Lange lia, A., Carrino, L., Fernandes, C., Montesarchio, B., (1989). Design and Fabrication of a Composite Gear Structural Element. In: Proceedings of International Conference on Composite Material, Milan.Google Scholar
  3. Dorf R.C. (1984). Robotics and Automated Manufacturing. Reston Publ. Co., Reston.Google Scholar
  4. Engelberger, J.F. (1977). Designing Robots for Industrial Environments. Mechanism and Machine Theory, 403–412.Google Scholar
  5. Hoang, K., Fenton, R.G. (1992). Determination of Robot’s Location in Manufacturing Cell. In: Proceedings of 23rd Int.Symposium on Industrial Robots. Barcelona, 121–125.Google Scholar
  6. Lenarcic, J., Stanic, U., Oblak, P. (1989). Some Kinematic Considerations for the Design of Robot Manipulators. Jnl. Robotics & Computer-Integrated Manufacturing, 235–241.Google Scholar
  7. Rolston, J.A. (1982). Filament Winding. In: Composite Design Guide Vol. 3: Processing and Fabrication Technology. University of Delaware.Google Scholar
  8. Scheinman, V, Roth, B. (1985). On the Optimal Selection and Placement of Manipulators. In: Proceedings of the Fifth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. Kogan Page, London, 39–45.Google Scholar
  9. Schraft, R.D., Wanner, M.C. (1985). Determination of Important Design Parameters for Industrial Robots from the Application Point of View: Survey Paper. In: Proceedings of the Fifth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Kogan Page, London, 423–429.Google Scholar
  10. Schwartz, M.M. (1987). Composite Materials Handbook. McGraw Hill, New York.Google Scholar
  11. Seering, W.P., Scheinmann, V. (1985). Mechanical Design of an Industrial Robot. In: Nof S.Y. (Ed.). Handbook of Industrial Robotics, Wiley, New York, 29–43.Google Scholar
  12. Vertut, J., Liègeois, A. (1981). A General Design Criteria for Manipulators. Mechanism and Machine Theory, 65–70.Google Scholar

Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • M. Ceccarelli
    • 1
  • L. Carrino
    • 1
  1. 1.Department of Industrial Engineering UniversityCassinoItaly

Personalised recommendations