A cad system for designing robotic manipulators

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An interactive procedure will be derived to facilitate a designer in choosing proper actuators and their locations and optimal dimensions on each component in a robot so that the robot has the same time constant for any direction of motion and less nonlinear effects. An integrated solution of the following problems will be sought for to derive the procedure. A data structure to represent a robot in a database should be created. A proper objective function, which represents the dynamic characteristics of robots (i.e., time constants and nonlinear effects), has to be defined. A method of computing the objective function from a set of optimization variables should be derived. As a case study, a five degree of freedom RHINO robot will be optimized. This paper is an extended abstract because the project is still on the way.

Original languageEnglish (US)
Title of host publicationProceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages376-380
Number of pages5
ISBN (Print)0818606150
DOIs
StatePublished - 1985
Event2nd IEEE International Conference on Robotics and Automation, ICRA 1985 - St. Louis, United States
Duration: Mar 25 1985Mar 28 1985

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2nd IEEE International Conference on Robotics and Automation, ICRA 1985
Country/TerritoryUnited States
CitySt. Louis
Period3/25/853/28/85

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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