Research Papers

Kinematic Synthesis of Structures for Metamorphic Serial Manipulators

[+] Author and Article Information
Charalampos Valsamos

Department of Mechanical
and Aeronautics Engineering,
University of Patras,
Rio, Achaia 26500, Greece
e-mail: balsamos@mech.upatras.gr

Vassilis Moulianitis

Department of Product
and Systems Design Engineering,
University of the Aegean,
Ermoupolis, Syros 84100, Greece
e-mail: moulianitis@syros.aegean.gr

Nikos Aspragathos

Department of Mechanical
and Aeronautics Engineering,
University of Patras,
Rio, Achaia 26500, Greece
e-mail: asprag@mech.upatras.gr

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 20, 2013; final manuscript received March 31, 2014; published online June 5, 2014. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 6(4), 041005 (Jun 05, 2014) (14 pages) Paper No: JMR-13-1095; doi: 10.1115/1.4027741 History: Received May 20, 2013; Revised March 31, 2014

In this work a method for the kinematic synthesis of structure topologies for modular metamorphic serial manipulators is presented. A detailed description of this class of robot manipulators is presented, in order to clarify their basic elements and their basic structural definitions. Based on these, the metamorphic structure representation (MSR) is proposed for the systematic representation of this type of metamorphic manipulator structures. A thorough examination of the possible metamorphic links that can be constructed is presented and used for the definition of the manipulator's structure evaluation criteria, to formulate a multicriteria evaluation index. The problem of the optimal kinematic synthesis of metamorphic structures is formulated and the process of automated generation of structures according to the specified requirements is presented. The results are presented in detail, in order to reflect their validity and the advantages that the proposed process for the kinematic synthesis of topologies for the modular metamorphic manipulator provides to the designer.

Copyright © 2014 by ASME
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Fig. 1

Active joint module

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Fig. 3

Reference anatomy of a given 3 DOF metamorphic structure

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Fig. 4

Anatomy θp1 of the same metamorphic structure

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Fig. 5

Connections between a pseudo joint and an active module based on twist incidence

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Fig. 7

Link 0213130# at its reference shape (a), and at anatomies presenting different relations of the active joint twists (b-d)

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Fig. 6

Link 01130# at settings where the relation of the active joint twists changes

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Fig. 9

Second mutation process

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Fig. 10

Structure 0311011311011303131103

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Fig. 11

Structure 02121303130213031101

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Fig. 12

Structure 0312120311031303111103

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Fig. 13

GA convergence graph




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