0
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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.

References

Valsamos, C., Moulianitis, V., and Aspragathos, N., 2012, “Index Based Optimal Anatomy of a Metamorphic Manipulator for a Given Task,” Rob. Comput.-Integr. Manuf., 28(4), pp. 517–529. [CrossRef]
Gonzalez-Palacios, M. A., Angeles, J., and Ranjbaran, F., 1993, “The Kinematic Synthesis of Serial Manipulators With a Prescribed Jacobian,” IEEE International Conference on Robotics and Automation, Atlanta, GA, May 2–6, Vol. 1, pp. 450–455. [CrossRef]
Ting-Li, Y., An-Xin, L., and Qiong, J., 2009, “Position and Orientation Characteristic Equation for Topological Design of Robot Mechanisms,” ASME J. Mech. Des., 131(2), p. 0210011. [CrossRef]
Chew, M., Shen, S. N. T., and Issa, G. F., 1995, “Kinematic Structural Synthesis of Mechanisms Using Knowledge-Based Systems,” ASME J. Mech. Des., 117(1), pp. 96–103. [CrossRef]
Manoochehri, S., and Seireg, A. A., 1988, “Computer-Aided Form Synthesis and Optimal Design of Robot Manipulators,” Trends and Developments in Mechanisms, Machines, and Robotices—1998, ASME 20th Biennial Mechanisms Conference, Kissimmee, FL, September 25–28, Vol. 3, pp. 163–170.
Chen, I.-M., 2001, “Rapid Response Manufacturing Through a Rapidly Reconfigurable Robotic Workcell,” Rob. Comput. Integr. Manuf., 17(3), pp.199–213. [CrossRef]
Chocron, O., 2008, “Evolutionary Design of Modular Robotic Arms,” Robotica, 26(3), pp. 323–330. [CrossRef]
Yang, G., and Chen, I.-M., 2000, “Task-Based Optimization of Modular Robot Configurations: Minimized Degree of Freedom Approach,” Mech. Mach. Theory, 35(4), pp. 517–540. [CrossRef]
Lemay, J., and Notash, L., 2004, “Configuration Engine for Architecture Planning of Modular Parallel Robots,” Mech. Mach. Theory, 39(1), pp. 101–117. [CrossRef]
Paredis, C., Brown, B., and Khosla, P., 1996, “A Rapidly Deployable Manipulator System,” IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 22–28, pp. 1434–1439. [CrossRef]
Sarkissyan, Y. L., Khavatyan, A. G., Egishyan, K. M., and Parikyan, T. F., 2009, “Synthesis of Mechanisms With Variable Structure and Geometry for Reconfigurable Manipulation Systems,” ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009), London, June 22–24, pp. 195–199.
Wang, X., Baron, L., and Cloutier, G., 2008, “Topology of Serial and Parallel Manipulator and Topological Diagrams,” Mech. Mach. Theory, 43(6), pp. 754–770. [CrossRef]
Chirikjian, G. S., 1994, “Kinematics of a Metamorphic Robotic System,” IEEE International Conference on Robotics and Automation, San Diego, CA, May 8–13, Vol. 1, pp. 449–455. [CrossRef]
Valsamos, H., and Aspragathos, N., 2009, “Determination of Anatomy and Configuration of a Reconfigurable Manipulator for the Optimal Manipulability,” ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009), London, June 22–24, pp. 497–503.
Valsamos, C., Moulianitis, V., and Aspragathos, N., 2012, “Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators,” Advances in Reconfigurable Mechanisms and Robots I, J. S. Dai, M. Zoppi, and X. Kong, eds., Springer-Verlag, London, Chap. 1. [CrossRef]
Murray, R. M., Li, Z., and Sastry, S. S., 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, New York.
Selig, J. M., 1992, Introductory Robotics, Prentice Hall International, London.
Chen, I.-M., and Gao, Y., 1996, “Configuration Independent Kinematics for Modular Robots,” IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 22–28, pp. 1440–1445. [CrossRef]
Chen, I.-M., and Gao, Y., 2001, “Closed–Form Inverse Kinematics Solver for Reconfigurable Robots,” IEEE International Conference on Robotics and Automation (2001 ICRA), Seoul, Korea, May 21–26, pp. 2395–2400. [CrossRef]
Kelmar, L., and Khosla, P., 1990, “Automatic Generation of Kinematics for a Reconfigurable Modular Manipulator System,” J. Rob. Syst., 7(4), pp. 559–619. [CrossRef]
Gao, Y., 2000, “Decomposible Closed-Form Inverse Kinematics for Reconfigurable Robots Using Product of Exponential Formula,” M.S. thesis, School of Mechanical and Production Engineering Nanyang Technological University, Singapore.

Figures

Grahic Jump Location
Fig. 1

Active joint module

Grahic Jump Location
Fig. 3

Reference anatomy of a given 3 DOF metamorphic structure

Grahic Jump Location
Fig. 4

Anatomy θp1 of the same metamorphic structure

Grahic Jump Location
Fig. 5

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

Grahic Jump Location
Fig. 6

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

Grahic Jump Location
Fig. 7

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

Grahic Jump Location
Fig. 9

Second mutation process

Grahic Jump Location
Fig. 10

Structure 0311011311011303131103

Grahic Jump Location
Fig. 11

Structure 02121303130213031101

Grahic Jump Location
Fig. 12

Structure 0312120311031303111103

Grahic Jump Location
Fig. 13

GA convergence graph

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In