Index based optimal anatomy of a metamorphic manipulator for a given task

Authors:
Charalampos Valsamos;Vassilis Moulianitis;Nikos Aspragathos
Affiliations:
Mechanical and Aeronautics Engineering Department, University of Patras, 26500 Rio, Achaia, Greece;Department of Product and Systems Design Engineering, University of Aegean, 84100 Ermoupolis, Syros, Greece;Mechanical and Aeronautics Engineering Department, University of Patras, 26500 Rio, Achaia, Greece
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2012

Citing 3
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Abstract

This paper introduces an approach for the determination of the best anatomy of a metamorphic manipulator for a given task at a given location. The location of the task is determined by maximizing the performance of a current industrial fixed anatomy robot. Two types of tasks are considered: a point to point task and a path following task, where in the first case the approximated minimum of the manipulability index is formed along the task points and in the second case the approximated minimum of the manipulator velocity ratio is formed along the line segments. These indexes are maximized in order to determine the best anatomy for the task. The proposed approach is tested and the results show that the determined best anatomy for each type of task acquired higher performance than the respective one achieved by the fixed anatomy manipulator.