Computer-aided form synthesis and optimal design of robot manipulators

S. Manoochehri, A. A. Seireg

Research output: Contribution to conferencePaperpeer-review

1 Scopus citations

Abstract

The developed computer program to implement the methodology operates in two separate modes. The first deals with the dynamic synthesis of user defined topologies in the second mode, the designer provides only the required task, then the program will generate optimum manipulator configuration by systematic evaluation and ranking of plausible alternatives. The methodology simultaneously incorporates the kinematic and dynamic synthesis as well as optimal actuation and stress analysis in an integrated design process. The procedure relies on the systematic composition of plausible manipulators from tabulated basic elements. The optimization strategy for synthesis and control utilizes a dynamic programming approach which makes it possible to select the optimum parameters in a stage-wise manner without sacrificing the interactions inherent in such highly coupled non-linear systems.

Original languageEnglish
Pages163-170
Number of pages8
StatePublished - 1988
EventTrends and Developments in Mechanisms, Machines, and Robotics - 1988 - Kissimmee, FL, USA
Duration: 25 Sep 198828 Sep 1988

Conference

ConferenceTrends and Developments in Mechanisms, Machines, and Robotics - 1988
CityKissimmee, FL, USA
Period25/09/8828/09/88

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