Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Task Based Design of a Two-DOF Manipulator with Five-Bar Link Mechanism

5절 링크구조를 갖는 2자유도 매니퓰레이터의 작업지향설계

  • Kim, Jin-Young (Dept.of Lobot System Engineering, Tongmyong University) ;
  • Cho, Hyung-Suck (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 김진영 (동명정보대학교 로봇시스템공학과) ;
  • 조형석 (한국과학기술원 기계공학과)
  • Published : 2000.01.01
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Abstract

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

Keywords

References

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