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Research Papers

Task-Based Optimal Design of Metamorphic Service Manipulators

[+] Author and Article Information
Vassilis C. Moulianitis

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

Aris I. Synodinos

Robotics Group,
Department of Mechanical Engineering
and Aeronautics,
University of Patras,
Patras 26504, Greece
e-mail: asynodin@mech.upatras.gr

Charalampos D. Valsamos

Robotics Group,
Department of Mechanical Engineering
and Aeronautics,
University of Patras,
Patras 26504, Greece
e-mail: balsamos@mech.upatras.gr

Nikos A. Aspragathos

Professor
Robotics Group,
Department of Mechanical Engineering
and Aeronautics,
University of Patras,
Patras 26504, Greece
e-mail: asprag@mech.upatras.gr

1Corresponding author.

Manuscript received November 27, 2015; final manuscript received May 5, 2016; published online September 8, 2016. Assoc. Editor: Pierre M. Larochelle.

J. Mechanisms Robotics 8(6), 061011 (Sep 08, 2016) (9 pages) Paper No: JMR-15-1326; doi: 10.1115/1.4033665 History: Received November 27, 2015; Revised May 05, 2016

In this paper, a method for the optimal design of metamorphic manipulators is presented, using path dexterity indices in diverse service tasks. The Swedish massage service is chosen as an application, due the very dissimilar techniques that can be challenging for fixed anatomy manipulators. These techniques are presented and a mapping to dexterity indices is proposed based on each technique's requirements. A method for the evaluation of metamorphic anatomies over tasks is proposed, and the optimized anatomy of a metamorphic manipulator is determined. Finally, an illustrative example is presented for three tasks, where the advantages of the anatomy optimization are demonstrated.

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References

Figures

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Fig. 1

A metamorphic manipulator comprised of links, pseudojoints, and active (rotational) joints: (a) the 6DoF case study metamorphic manipulator with four pseudojoints, (b) isometric view of a pseudojoint and the corresponding axis of rotation Zp, and (c) isometric view of an active joint and the corresponding axis of rotation Z

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Fig. 2

Unit directional vectors along the path

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Fig. 3

Mapping of a path in SE(3) to multiple paths in the joint space

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Fig. 4

Vertical straight line path of high end-effector force: (a) the rm for two different anatomies (best—left and arbitrary—right) for the lifting task and (b) the required torques for the lifting task (best anatomy—solid and arbitrary anatomy–dashed)

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Fig. 5

Horizontal circular line path of high end-effector force: (a) the values of rm along the semicircular task for the best anatomy (over the trajectory) and an arbitrary anatomy (under the trajectory) and (b) the required joint torques for the semicircular task (best anatomy—solid and arbitrary anatomy–dashed)

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Fig. 6

The values of rv for the best anatomy along the semicircular task for the best anatomy (over the trajectory) and an arbitrary anatomy (under the trajectory)

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Fig. 7

Horizontal circular line path of high end-effector velocity: (a) the required velocities for the first and second joints of the semicircular task (best anatomy—solid and arbitrary anatomy—dashed) and (b) the required velocities for the second and third joints of the semicircular task (best anatomy—solid and arbitrary anatomy—dashed)

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Fig. 8

The best anatomies in their reference configuration for all three tasks described: (a) for the scenario in Sec. 6.1, (b) for the scenario in Sec. 6.2, and (c) for the scenario in Sec. 6.3

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