Evaluation of Serial Metamorphic Manipulator Structures Considering Inertia Characteristics

Stravopodis, Nikolaos; Katrantzis, L.; Moulianitis, Vassilis C.; Valsamos, Charalampos; Aspragathos, Nikos Α.

doi:10.1007/978-3-030-48989-2_61

Cited by 4 publications

(4 citation statements)

References 16 publications

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“…The effective mass measure was proposed by Khatib in [ 25 ] and is a measure of the component of linear acceleration along a given direction of motion for the application of a unit force applied along this direction. The mathematical expression of the measure is

where u is the unit vector in the direction of the application of force, q is the manipulator’s joint variables vector depicting its current configuration, and

is the pseudo kinetic energy matrix, which characterizes the translational response of the end effector to an applied force and is given as

where

, is the inverse inertia matrix and for the metamorphic structure under study can be calculated as presented in [ 26 ].…”

Section: Methodsmentioning

confidence: 99%

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Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Stravopodis

Valsamos

Moulianitis

2022

Sensors

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The inherit complexity of the determination of the optimal anatomy and structure to task requirements and specification for metamorphic manipulators poses a significant challenge to the end user, as such methods and tools to undertake such processes are required for the implementation of metamorphic robots to real-life applications in various fields. In this work, the methodology for an offline process for the determination of the optimal anatomy maximizing performance under different requirements is presented. Such requirements considered in this work include the kinematic, kinetostatic and dynamic performance of the manipulator during task execution. The proposed methodology is then applied to a 3 D.o.F. metamorphic manipulator for different tasks. The presented results clearly show that a single metamorphic structure is able to provide the end user with different anatomies, each better suited to task specifications.

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where u is the unit vector in the direction of the application of force, q is the manipulator’s joint variables vector depicting its current configuration, and

is the pseudo kinetic energy matrix, which characterizes the translational response of the end effector to an applied force and is given as

where

, is the inverse inertia matrix and for the metamorphic structure under study can be calculated as presented in [ 26 ].…”

Section: Methodsmentioning

confidence: 99%

“…The serial metamorphic manipulator (SMM) prototype, presented in Figure 1 a (CAD version) and in Figure 3 (physical system), was built for the experimental validation of the theoretical results extracted, regarding the optimized kinematic [ 5 ] and dynamic [ 10 , 26 ] properties of this class of reconfigurable manipulators.…”

Section: Methodsmentioning

confidence: 99%

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Stravopodis

Valsamos

Moulianitis

2022

Sensors

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“…Second link Third link Fourth link The movement of each link of the manipulator with respect to the AMR platform can be represented as a sequence of turns and parallel transfers [3][4][5].…”

Section: First Linkmentioning

confidence: 99%

“…The presence of a movable base increases the maneuverability of the handling AMR, expands the working space and increases the number of permissible configurations of the manipulator, but reduces the positioning accuracy of the gripper (attached equipment or tool). Accounting for inertial characteristics when compiling the equations of dynamics makes it possible to provide an optimal structure [4] or to investigate the contact forces of the manipulator [5]. The results of the study for a spacecraft with a manipulator are given in [6,7].…”

Section: Introductionmentioning

confidence: 99%

Analysis of the inertia tensor of autonomous mobile robot

Ashhepkova

2022

TAPR

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The object of research is the inertia tensor of an autonomous mobile robot (AMR) with a manipulator with different configurations of their mutual position. As an example of the AMR design of a changing configuration, an all-wheel drive four-wheeled platform with a manipulator is considered, consisting of a docking disk rotating around a vertical axis and rod links of the arm connected by rotational kinematic pairs of the fifth class. The mass of moving structural elements, i. e., a manipulator with a load, is 10–20 % of the mass of the robot platform. Let’s consider that the links of the manipulator and the platform are absolutely rigid and homogeneous bodies with a constant density; let’s neglect the mass of kinematic pairs. The next step in the analysis of the AMR inertia tensor of a changing configuration can be a study taking into account the elastic properties of the manipulator links, the uneven distribution of the masses of the platform, and the characteristics of the kinematic pairs. The dependence of the values of the elements of the AMR inertia tensor of a changing configuration on the values of the generalized coordinates of the moving elements of the structure and the ratio of the mass of the platform and the mass of the moving elements of the structure has been studied. The analysis of the inertia tensor of the AMR with a manipulator at different configurations of their mutual position showed that the values of the centrifugal moments of inertia of the system during the relative motion of the manipulator are commensurate with the value of the axial moments of inertia of the system, even if the mass of the moving structural elements is less than 10% of the mass of the platform. In most existing AMRs, the mass of moving structural elements is up to 20% of the platform mass, therefore, in the general case, the inertia tensor of such a system should be taken as off-diagonal and non-stationary. In the future, this will make it possible to refine the equation of dynamics, take into account the relationship of control channels, simulate the movement of AMR of a changing configuration, and optimize energy costs. Since AMR with the manipulator is an example of the «changing AMR» object class, the results obtained can be applied to all objects of this class.

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Anatomy Categorization of a Serial Metamorphic Manipulator for Optimized Robust Controller Performance

Stravopodis

Moulianitis

2022

Advances in Service and Industrial Robotics

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Evaluation of Serial Metamorphic Manipulator Structures Considering Inertia Characteristics

Cited by 4 publications

References 16 publications

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Analysis of the inertia tensor of autonomous mobile robot

Anatomy Categorization of a Serial Metamorphic Manipulator for Optimized Robust Controller Performance

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