Optimal manipulator parameters and placement based on decoupled analysis
Journal
Comptes Rendus de L'Academie Bulgare des Sciences
Journal Volume
74
Journal Issue
4
Pages
576-584
Date Issued
2021
Author(s)
Chang Y.-L
Abstract
Manipulator arms play a major role in automated operations in the industrial, medical, and agricultural fields, and the design of their mechanisms is worthy of further study. This paper reports an effective design system for the parameters and placement of manipulators. Users can assign relative coordinates of points with specific orientations that a manipulator’s end effector intends to reach within constrained angles. The design system uses a 5-DOF PUMA 560-type manipulator to fulfill the requirements through decoupled analysis. The placement of the manipulator arm, adjusted coefficient for length parameters, and angles of actuators are determined and used for the minimum robotic parameters with constraints. The method decouples the functions of the PUMA 560-type manipulator through position and orientation. Vector analysis is used for determining possible angles combination of actuators to satisfy orientations constraints. Then one of relative coordinates will be chosen to determine the placement of manipulator. Inverse kinematics is used for determining parts of angles solutions. Optimal searching is applied to determine the minimum adjusted coefficient of length parameters as well as the placement and actuator angles of the manipulator. The proposed manipulator design system decouples position and orientation functions to simplify problems of angles solutions, robotic parameters, and placement of manipulator with constraints. ? 2021 Academic Publishing House. All rights reserved.
Subjects
Decoupled analysis
Mechanism design
Optimization
PUMA 560
Workspace analysis
Type
journal article