Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis
A task-oriented design strategy is presented in this paper for service manipulators. The tasks are normally defined in the form of working locations where the end-effector can work while avoiding the obstacles. To acquire feasible solutions in cluttered environments, the robotic parameters (D-H para...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2016/3537068 |
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| author | Satwinder Singh Ekta Singla |
| author_facet | Satwinder Singh Ekta Singla |
| author_sort | Satwinder Singh |
| collection | DOAJ |
| description | A task-oriented design strategy is presented in this paper for service manipulators. The tasks are normally defined in the form of working locations where the end-effector can work while avoiding the obstacles. To acquire feasible solutions in cluttered environments, the robotic parameters (D-H parameters) are allowed to take unconventional values. This enhances the solution space and it is observed that, by inducing this flexibility, the required number of degrees of freedom for fulfilling a given task can be reduced. A bilevel optimization problem is formulated with the outer layer utilizing the binary search method for minimizing the number of degrees of freedom. To enlarge the applicability domain of the proposed strategy, the upper limit of the number of joints is kept more than six. These allowable redundant joints would help in providing solution for intricate workcells. For each iteration of the upper level, a constrained nonlinear problem is solved for dimensional synthesis of the manipulator. The methodology is demonstrated through a case study of a realistic environment of a cluttered server room. A 7-link service arm, synthesized using the proposed method, is able to fulfill two different tasks effectively. |
| format | Article |
| id | doaj-art-694d88db547c466aae4b6ef6b7a48b8b |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-694d88db547c466aae4b6ef6b7a48b8b2025-02-03T05:47:46ZengWileyJournal of Robotics1687-96001687-96192016-01-01201610.1155/2016/35370683537068Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional SynthesisSatwinder Singh0Ekta Singla1Mechanical Engineering Department, IIT Ropar, Rupnagar 140001, IndiaMechanical Engineering Department, IIT Ropar, Rupnagar 140001, IndiaA task-oriented design strategy is presented in this paper for service manipulators. The tasks are normally defined in the form of working locations where the end-effector can work while avoiding the obstacles. To acquire feasible solutions in cluttered environments, the robotic parameters (D-H parameters) are allowed to take unconventional values. This enhances the solution space and it is observed that, by inducing this flexibility, the required number of degrees of freedom for fulfilling a given task can be reduced. A bilevel optimization problem is formulated with the outer layer utilizing the binary search method for minimizing the number of degrees of freedom. To enlarge the applicability domain of the proposed strategy, the upper limit of the number of joints is kept more than six. These allowable redundant joints would help in providing solution for intricate workcells. For each iteration of the upper level, a constrained nonlinear problem is solved for dimensional synthesis of the manipulator. The methodology is demonstrated through a case study of a realistic environment of a cluttered server room. A 7-link service arm, synthesized using the proposed method, is able to fulfill two different tasks effectively.http://dx.doi.org/10.1155/2016/3537068 |
| spellingShingle | Satwinder Singh Ekta Singla Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis Journal of Robotics |
| title | Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis |
| title_full | Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis |
| title_fullStr | Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis |
| title_full_unstemmed | Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis |
| title_short | Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis |
| title_sort | service arms with unconventional robotic parameters for intricate workstations optimal number and dimensional synthesis |
| url | http://dx.doi.org/10.1155/2016/3537068 |
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