Automation of the Design of the Cross-Section of the Manipulator Arms Profile

MIHOLA, MILAN; Zeman, Zdeněk; Fojtik, David

doi:10.17973/mmsj.2021_10_2021092

Cited by 2 publications

(3 citation statements)

References 15 publications

(18 reference statements)

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“…However, if this distance is greater, the link will consist of three parts, a pair of consoles and a profile that connects them. In previous publications [Mihola 2021, Zeman 2021, software tools for designing drive units and cross-sections of line profiles have been described. These software tools have been modified so that the robotic arm design process can be automated.…”

Section: N-th Link Design Proceduresmentioning

confidence: 99%

“…As part of the research, software tools were gradually created, with the help of which it is possible to either automate or significantly simplify the design process of individual parts of robotic arms. The article [Zeman 2021] describes the software tool DrivePicker, designed to design power units. The article [Mihola 2021] describes the software tool RobotArmDesigner, designed to design cross-sections of individual arms of industrial robots and manipulators.…”

Section: Introductionmentioning

confidence: 99%

“…The article [Zeman 2021] describes the software tool DrivePicker, designed to design power units. The article [Mihola 2021] describes the software tool RobotArmDesigner, designed to design cross-sections of individual arms of industrial robots and manipulators. However, these are still stand-alone tools for which it is necessary to prepare input data and subsequently evaluate the output data.…”

Section: Introductionmentioning

confidence: 99%

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Automation of Design of Robotic Arm

MIHOLA¹,

Zeman²,

BOLESLAVSKY³

et al. 2022

MM SJ

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Robotic arms are complex mechatronic systems. Therefore, their design requires knowledge and experience from various technical fields, such as mechanics, electrical engineering, electronics or control. From the view of the requirements placed on developers, the design of robotic arms is one of the more complex tasks. Unfortunately, there is a lack of necessary specialists in this field of technology. Therefore, ways are sought to help existing specialists in their work and, simultaneously, reduce the time needed to design the required equipment. At the same time, there are also sought ways to open the way to this issue for developers who do not yet have enough experience. For this reason, algorithms and development tools have been developed to significantly simplify and reduce the time required to design robotic arms and simultaneously automate as much of this process as possible. The aim is to shorten the design time and achieve better results than in the case of designs according to classical procedures.

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Section: N-th Link Design Proceduresmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Automation of Design of Robotic Arm

MIHOLA¹,

Zeman²,

BOLESLAVSKY³

et al. 2022

MM SJ

Self Cite

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Multirepresentations and Multiconstraints Approach to the Numerical Synthesis of Serial Kinematic Structures of Manipulators

et al. 2022

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This paper presents a set of algorithms for the synthesis of kinematic structures of serial manipulators using multiple constraint formulation and provides a performance comparison of different kinematic representations, the Denavit-Hartenberg notation, the Product of Exponentials (screws), and Roll-Pitch-Yaw angles with translation parameters. Synthesis is performed for five given tasks, and both revolute and prismatic joints can be synthesized. Two different non-linear programming optimization algorithms were used to support the findings. The results are compared and discussed. Data show that the choice of the constraint design method has a significant impact on the success rate of optimization convergence. The choice of representation has a lower impact on convergence, but there are differences in the optimization time and the length of the designed manipulators. Furthermore, the best results are obtained when multiple methodologies are used in combination. An arbitrary manipulator was designed and assembled based on a trajectory in the collision environment to demonstrate the advantages of the proposed methodology. The input/output data and synthesis methodology algorithms are provided through an open repository. INDEX TERMS robot design, serial manipulator synthesis, numerical optimization, kinematic representations I. INTRODUCTIONThe synthesis of a kinematic structure of a robot manipulator 1 is the process of finding kinematic parameters with which 2 the structure fulfills a given task. As a task, one can imagine 3 a path or trajectory that goes through the previously specified 4 poses, i.e., a predefined translation and orientation of the end-5 effector. In industry, a typical manipulator has the so-called 6 angular kinematic structure with 6 degrees of freedom (DoF), 7 and it can universally serve in various tasks. A synthesized 8 (customized) manipulator can overcome the angular robot in 9 ways such as providing the possibility of avoiding collisions 10 due to its task-specific design, reducing the cost when fewer 11 joints (motors) are needed, or even the ability to change its 12 kinematic structure during the working process as presented 13 by Brandstötter et al. [1], where increased temperature of

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Automation of the Design of the Cross-Section of the Manipulator Arms Profile

Cited by 2 publications

References 15 publications

Automation of Design of Robotic Arm

Automation of Design of Robotic Arm

Multirepresentations and Multiconstraints Approach to the Numerical Synthesis of Serial Kinematic Structures of Manipulators

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