Automatic Generation of Serial Robot Architectures from Required Motion Directions

verfasst von

D. Ramirez, Jens Kotlarski, Tobias Ortmaier

Abstract

This paper presents an approach for the automatic generation of serial robot architectures, which, in comparison to existing methods, is easier to implement in a computer aided design process. From the required Cartesian translational and rotational motions along the axes of the robot base reference frame, the feasible serial robot architectures are generated using a discret set of Denavit-Hartenberg parameters and the rank of the Jacobian matrix. The method begins with the definition of the required motion through a required motion vector, which can be manipulated to take into account possible orientations of the robot base. The complete algorithm as well as an application example are given. Finally, the number of solutions generated with the proposed method are listed for serial manipulators from two to five degrees of freedom.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

Universidad Santo Tomas

Typ

Aufsatz in Konferenzband

Seiten

55-63

Publikationsdatum

2014

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja