Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators

Valsamos, Charalampos; Moulianitis, Vassilis C.; Aspragathos, Nikos Α.

doi:10.1007/978-1-4471-4141-9_1

Cited by 8 publications

(3 citation statements)

References 4 publications

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“…Chocron [11] also found the optimal kinematic structure for the modules that he defined. Another solution was presented by Valsamos et al [12,13], who presented a more developed approach with so-called pseudo-joints, which with the use of a genetic algorithm (GA) attempts to find the kinematic structure with the best manipulability. Their outcomes were later verified by Katrantzis [14] in an experiment with a real manipulator.…”

Section: Introductionmentioning

confidence: 99%

Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links

et al. 2021

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There are several ubiquitous kinematic structures that are used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers are experimenting with task-based mechanism synthesis that could provide higher efficiency with custom optimized manipulators. Many studies have focused on finding the most efficient optimization algorithm for task-based robot manipulators. These manipulators, however, are usually optimized from simple modular joints and links, without exploring more elaborate modules. Here, we show that link modules defined by small numbers of parameters have better performance than more complicated ones. We compare four different manipulator link types, namely basic predefined links with fixed dimensions, straight links that can be optimized for different lengths, rounded links, and links with a curvature defined by a Hermite spline. Manipulators are then built from these modules using a genetic algorithm and are optimized for three different tasks. The results demonstrate that manipulators built from simple links not only converge faster, which is expected given the fewer optimized parameters, but also converge on lower cost values.

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Section: Introductionmentioning

confidence: 99%

Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links

et al. 2021

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“…Metamorphic manipulators are a class of reconfigurable manipulators [16,17]. They inherit the key attributes of reconfigurable robots and they exploit a metamorphic structure in order to achieve reconfiguration without dismantling and reassembling its components.…”

Section: Introductionmentioning

confidence: 99%

Investigation of Dynamically Decoupled Anatomies for a Serial Metamorphic Manipulator

Stravopodis

Moulianitis

Valsamos

2020

Mechanisms and Machine Science

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In this paper, the inertia characteristics of a 2 Degrees of Freedom (DoF) serial metamorphic manipulator (SMM) structure are investigated. Link mass redistribution is utilized as the dynamic decoupling design approach. The metamorphic structure of the manipulator provides the ability to perform mass redistribution, through the altering of the pseudojoints configuration(anatomy metamorphosis). The overall number of design parameters is reduced and simplicity of the proposed methodology is enhanced. The procedure presented, is executed for a 2 DoF SMM and the advantages of the metamorphic structure, compared with fixed anatomy manipulators, are featured.

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“…The design parameters vary depending on the type of link, without directly specifying any kinematic representation. Valsamos and Katrantzis et al [17], [18] also used Schunk actuators with pseudo-joints between them and generated the optimal kinematic structure based on the manipulability of the manipulator. Another global optimum search algorithm is the Simulated Annealing implemented in [19], where they composed a manipulator from predefined links and joints models.…”

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confidence: 99%

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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Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators

Cited by 8 publications

References 4 publications

Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links

Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links

Investigation of Dynamically Decoupled Anatomies for a Serial Metamorphic Manipulator

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

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