A technique which enables the observation of the time constants for joint velocity changes and effects of nonlinear forces in a robot has been developed. This method will now be utilized to create a software package for the design of robotic manipulators. An interactive procedure is derived to help a designer to choose proper actuators, 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 from which to derive the procedure. A data structure to represent a robot including the drive mechanisms in a database will be created. A proper objective function, which represents the dynamic characteristics of robots (ie time constants and nonlinear effects) must be defined. A method of computing the objective function from a set of optimization variables should be derived. A case study using the Rhino robot exemplifies the integration of the aforementioned developments.
- computer-aided design
- robotic manipulators
ASJC Scopus subject areas
- Computer Science Applications
- Computer Graphics and Computer-Aided Design
- Industrial and Manufacturing Engineering