Abstract
In this paper the improvement of a preliminary design process based on an iterative and interactive synthesis procedure is proposed. The problem deals with the determination of dimensional parameters of a manipulator able to manage a set of elementary geometrical tasks defined by the position and the orientation of the tool frame under kinematic performance constraints. The kinematic constraints (requested velocity at end-effector level) are included as a penalty function. The approach is validated with a planar robot manipulator (i.e. with three revolute joints) where we show that the solution obtained for geometrical synthesis solving problem has to be modified in order to take into account the actuators capabilities with regard to maximum joint velocity.
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© 1999 Springer Science+Business Media Dordrecht
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Guerry, S., Ouezdou, F.B., Régnier, S. (1999). Geometric Synthesis of Manipulators Under Kinematic Constraints. In: Batoz, JL., Chedmail, P., Cognet, G., Fortin, C. (eds) Integrated Design and Manufacturing in Mechanical Engineering ’98. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9198-0_29
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DOI: https://doi.org/10.1007/978-94-015-9198-0_29
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