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Relevant bibliographies by topics / Manipulator design

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Academic literature on the topic 'Manipulator design'

Author: Grafiati

Published: 28 June 2021

Last updated: 1 February 2022

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Journal articles on the topic "Manipulator design"

1

Abdel-Rahman, Tarek M., and M. A. Elbestawi. "Design of a compact statically balanced direct-drive manipulator." Robotica 8, no. 4 (October 1990): 347–53. http://dx.doi.org/10.1017/s0263574700000473.

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SUMMARYThis paper addresses the conceptual design of direct-drive manipulators which have good promise for high speed, high precision manipulation. In the design methodology presented, the procedure begins by considering the kinematic aspects and ends by configuring manipulator structures with promising kinematic and dynamic characteristics. Based on the conceptual design considerations, a novel 3 DOF (RRR) direct-drive manipulator is proposed and analyzed. The manipulator structure has only five links and a compact configuration. Manipulator kinematics and dynamics are analyzed. Design guidelines are derived for static balancing of the manipulator and for minimizing the inertias driven by the motors. Operational configurations that either improve or worsen the kinematic and dynamic behaviour or characteristics of the manipulator are identified. The proposed design has an advantage over many currently known direct-drive manipulators for achieving two desirable mechanical features, namely: static balancing and compactness (smaller driven inertias).

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Aviles, Oscar, Mauricio Felipe Mauledoux Monroy, and Oscar Rubiano. "Electronic Architecture for a Mobile Manipulator." International Journal of Online Engineering (iJOE) 14, no. 02 (February 28, 2018): 133. http://dx.doi.org/10.3991/ijoe.v14i02.7672.

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A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile robot manipulator with five degrees of freedom and a 6-wheel traction with four of these directional.

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Atia, Khaled R., and M. P. Cartmell. "A general dynamic model for a large-scale 2-DOF planar parallel manipulator." Robotica 17, no. 6 (November 1999): 675–83. http://dx.doi.org/10.1017/s0263574799001794.

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In this work a new concept of designing two degree of freedom (2-DOF) planar parallel manipulators (PPMs) is presented. With this design the manipulator's workspace can be increased by increasing the number of cells in the manipulator. A general dynamic model is formulated for the manipulator with any number of cells. The model is adapted for SCARA and ADEPT configurations, and a new approach for balancing these type of manipulators is proposed.

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Hsieh, Ming-Chu, and Zhen-Hong Khong. "Design and analysis for manipulator fixture applications." MATEC Web of Conferences 185 (2018): 00031. http://dx.doi.org/10.1051/matecconf/201818500031.

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The manipulators arms are the most important components in automatic machinery and equipment. These arms must conform to product requirements and match important accessory devices such as clamping jaw so that the entire process operates properly. Therefore the most important issue is that the manipulator arm has only one clamping jaw, followed by other issues such as welding and related features. In this research the manipulator arm of automated machinery with attached equipment was optimized, and the design serves as an object of study for multifunctional applications. This research emphasizes on customized manipulator design to create products with distinguished styles and characteristics, and serve as a basis for an improvement on innovative design. Manipulator arms from different manufacturers with various head-disc size and screw-hole locations were investigated, and concept of human palm was incorporated in the design to create a mechanical fixture that can be fitted into the arm. Overall design including main body of the manipulator, pneumatic cylinder set, gear and connecting rod combination, planet gear set, and linkage rods and fixture. These components were combined to offer the functions of the manipulator. Commercial software package, SolidWorks, was used to construct the model for the manipulator arm, and CAE analysis was implemented to identify the stress on the structure and possible interferences of the mobile components. Stress analysis was also performed on the gear set under pneumatic loading to ensure that the gear mechanism has a sufficient strength. The results of this study showed that an arc shaped manipulator body is the most easily handled during installation and most effectively controlled during operation. The simple profiles of the manipulator also lower the space required for storage. The design of the gear set and integrated application of the shaft helps prevent loosening of gear and shaft during operation. In this study, a manipulator was designed with three different functions, each fixture is powered by an isolated pneumatic cylinder, and this mechanism can be manipulated to form o0to o180clamping action in accordance with requirements of the task. The methods and results of this study serve as a reference for machinery industry to achieve high quality product, and also as a basis for innovative design.

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Wang, Yuezong, Liuqian Wang, and Jiqiang Chen. "Design and Experimental Investigations of Shape and Attitude Carding System for the Wires of Micro Coreless Motor Winding." Micromachines 12, no. 10 (September 23, 2021): 1140. http://dx.doi.org/10.3390/mi12101140.

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The shape and attitude (S&A) of the electrode wire are important characteristics of micro coreless motor winding. The purpose of this paper is to present the design of a robotic micro-manipulation system for micro wire carding with arbitrary S&A, which can be used as the pretreatment system for wire micro-gripper systems. The system is based on the principle of flexible carding, and uses nylon, bristle, nanometer-silk and wool as materials for the brushing micro-manipulator. The trajectory of the brushing micro-manipulator is designed, and the S&A of the electrode wires are straightened through the combined motion mode of horizontal and vertical brushing micro-manipulators. The experimental results show that the material of the brushing micro-manipulator has a great impact on the carding quality. Nanometer-silk material is more suitable for horizontal brushing micro-manipulators, and wool material is more suitable for vertical brushing micro-manipulators. The geometric dimension of the brushing micro-manipulator also affects the carding quality. When the diameter is in the range of 1 mm, the carding effect of the horizontal brushing micro-manipulator with a length of 4.9–8 mm is better. The system can realize the automatic carding of flexible electrode wires with arbitrary S&A, and it will not damage the structure of wires in the process.

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Shoani, Mohamed Tahir, Mohamed Najib Ribuan, and Ahmad Athif Mohd Faudzi. "Design, Fabrication, and Performance Analysis of a Vertically Suspended Soft Manipulator." International Journal of Automation Technology 15, no. 5 (September 5, 2021): 696–705. http://dx.doi.org/10.20965/ijat.2021.p0696.

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Soft continuum manipulators are comprised of flexible materials in a serpentine shape. Such manipulators can be controlled mechanically through tendons or pneumatic muscles. Continuum manipulators utilizing tendons are traditionally formed in a thick cross section, which presents limitations in achieving a high bending range as well as difficulties for storage and transportation. This study introduces a continuum manipulator comprised of two thin plastic bands and driven by a tendon to provide a bending action. The manipulator’s thin body form enables it to be rolled up for storage and transportation. Experimental results on different section lengths show the possibility of achieving a horizontal displacement of up to 34% of the bending-segment’s length, and a full closed-loop curvature for most segments. However, the results also indicated an elongation of the tip paths owing to gravity. These results, in addition to the manipulator’s flexibility and light weight features, confirm its suitability for applications in space and underwater environments.

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乔, 宗原. "Review of Humanoid Hand Five-Finger Manipulator." Design 03, no. 02 (2018): 32–38. http://dx.doi.org/10.12677/design.2018.32006.

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Rajesh, Mr K. "Serial Manipulator Design for an AG-Robot." International Journal of Trend in Scientific Research and Development Volume-2, Issue-1 (December 31, 2017): 643–46. http://dx.doi.org/10.31142/ijtsrd6979.

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Blatnický, Miroslav, Ján Dižo, Juraj Gerlici, Milan Sága, Tomáš Lack, and Erik Kuba. "Design of a robotic manipulator for handling products of automotive industry." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988142090629. http://dx.doi.org/10.1177/1729881420906290.

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Automation is a process of handling and transport of products, which allows replacing man’s control by operation of manipulators and robots. It represents a highly complex process, which includes several operations and they are usually performed automatically by particular devices. In this article, a technical design of a universal versatile robotic manipulator for handling with automotive products is presented. The designed device is intended for handling with automotive products with a maximum weight of 25 kg. The technical solution of the manipulator comes from required specifications and operation conditions given by the customer, who will install it as a part of an automatic line. A particularity of the manipulator is the special functionality, which allows handling with objects of both circular and angular shapes. This is ensured by adaptable gripping fingers, which are able to adjust their position by means of a well-considered mechanism. The technical design of the manipulator includes calculation of forces needed for reliable gripping of manipulated objects, choice of a working screw and calculation of the load and carrying out of strength analyses of the main loaded part of the manipulator. Based on results, there is recommended an appropriate material for the manufacture of the device to reach its optimal accuracy of positioning of handled objects during a long-term operation.

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Ou, Yeong-Jeong, and Lung-Wen Tsai. "Isotropic Design of Tendon-Driven Manipulators." Journal of Mechanical Design 118, no. 3 (September 1, 1996): 360–66. http://dx.doi.org/10.1115/1.2826893.

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This paper deals with the synthesis of mechanical transmission structures for tendon-driven manipulators. Based on static force analysis, necessary conditions are developed for the synthesis of tendon-driven manipulators with isotropic transmission characteristics. It is shown that an n degree-of-freedom (dof) manipulator will possess the isotropic transmission characteristics, if it satisfies two isotropic conditions. Furthermore, a design equation is derived for the construction of isotropic transmission structure matrices and a three-dof spatial manipulator is synthesized to demonstrate the methodology. It is shown that the isotropic design leads to a more uniform tendon force distribution.

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Dissertations / Theses on the topic "Manipulator design"

1

Welge-Lüssen, Tobias Carsten Lutz. "Design of a passively actuated robot manipulator /." Zürich : ETH, 2008. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=17701.

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Shooter, Steven B. "Conceptual manipulator design for limited access workspaces." Thesis, This resource online, 1990. http://scholar.lib.vt.edu/theses/available/etd-05092009-040612/.

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Johnson, Kevin Matthew. "Development of a statically balanced parallel platform manipulator." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/15947.

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Wilson, Thomas Rowe. "The design and construction of a flexible manipulator." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/17354.

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Song, Peilin. "Robotic manipulator control, fundamentals of task space design." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp02/NQ28063.pdf.

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Roy, Matthew MacGregor. "Design and fabrication of a lightweight robotic manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ37282.pdf.

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Sosa, Ognjen. "Design and implementation of a modular manipulator architecture." [Gainesville, Fla.] : University of Florida, 2004. http://purl.fcla.edu/fcla/etd/UFE0008983.

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Grigg, Kenneth Edward Carleton University Dissertation Engineering Electrical. "Design of parallel software for adaptive manipulator control." Ottawa, 1991.

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Roberts, Megan Johnson. "Design of small, low-cost, underwater fin manipulator." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/43014.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2008.
Includes bibliographical references (p. 28).
This thesis details the development of a small, low cost, underwater manipulator for use on the XAUV. At this time, there are no cheap underwater servos commercially available. The design involves modifying a commercially available servo so that it is waterproof and can provide the appropriate amount of torque. The manipulator is intended rotate the fins of the XAUV in order to enhance overall mobility and speed. The project includes a detailed design process resulting in a final design, which was built.
by Megan Johnson Roberts.
S.B.

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Haddad, F. B. "Design and performance of a position controlled manipulator." Thesis, University of Sussex, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.370434.

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Books on the topic "Manipulator design"

1

Design of an interactive manipulator programming environment. Ann Arbor, Mich: UMI Research Press, 1985.

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Song, Peilin. Robotic manipulator control: Fundamentals of task space design. Ottawa: National Library of Canada = Bibliothèque nationale du Canada, 1997.

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3

Townsend, William. The effect of transmission design on force-controlled manipulator performance. Cambridge, Mass: Massachusetts Institute of Technology, 1988.

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4

Wu, Huapeng. Analysis, design and control of a hydraulically driven parallel robot manipulator. Lappeenranta: Lappeenrannan teknillinen korkeakoulu, 2001.

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5

Prior, Stephen D. Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator. London: Middlesex University, 1993.

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6

Padmanabhan, Babu. Design of a robotic manipulator using variable geometry trusses as joints. Blacksburg, Va: Virginia Polytechnic Institute and State University, 1988.

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7

Oikawa, Stephen Oliver. Design and construction of a four-bay Variable-Geometry-Truss Manipulator arm. Ottawa: National Library of Canada, 1995.

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8

Ray, Jerry DeWane. Design of an articulated manipulator for enhanced dexterity in minimally invasive surgery. Monterey, Calif: Naval Postgraduate School, 1996.

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9

Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Book chapters on the topic "Manipulator design"

1

Salgado, A. Rojas, and Y. Ledezma Rubio. "Minimum Energy Manipulator Design." In Advances in Robot Kinematics: Analysis and Design, 89–99. Dordrecht: Springer Netherlands, 2008. http://dx.doi.org/10.1007/978-1-4020-8600-7_10.

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Wong, Ching-Chang, Yi-Jiun Shen, Chih-Cheng Liu, Meng-Tzu Huang, Yu-Ren Huange, and Chen-Yuo Yang. "Vision-Based Robot Manipulator Design." In Communications in Computer and Information Science, 124–31. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-23147-6_15.

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Che, Xinsheng, and Dongxue Fan. "Design of Industrial Instrument Manipulator." In Advances in Intelligent and Soft Computing, 31–36. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-25986-9_5.

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Wang, Yaobing. "Design Example of Large Space Manipulator." In Space Robotics, 257–87. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-4902-1_12.

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Yae, K. Harold. "Teleoperation of a Redundant Manipulator." In Concurrent Engineering: Tools and Technologies for Mechanical System Design, 375–85. Berlin, Heidelberg: Springer Berlin Heidelberg, 1993. http://dx.doi.org/10.1007/978-3-642-78119-3_16.

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Baigunchekov, Zh, S. Ibrayev, M. Izmambetov, T. Baigunchekov, B. Naurushev, and A. Mustafa. "Synthesis of Cartesian Manipulator of a Class RoboMech." In Mechanism Design for Robotics, 69–76. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00365-4_9.

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Luputi, Antonio-Marius-Flavius, Erwin-Christian Lovasz, Marco Ceccarelli, Sticlaru Carmen, and Ana-Maria Stoian. "Kinematic Simulation of a Geared Planar Parallel Manipulator." In Mechanism Design for Robotics, 102–10. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-75271-2_11.

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Zelei, Ambrus, László Bencsik, László L. Kovács, and Gábor Stépán. "Redundancy Resolution of the Underactuated Manipulator." In Romansy 19 – Robot Design, Dynamics and Control, 233–40. Vienna: Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1379-0_29.

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Hughes, Josie, and Fumiya Iida. "3D Printed Sensorized Soft Robotic Manipulator Design." In Towards Autonomous Robotic Systems, 627–36. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-64107-2_51.

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Gaudry, O., F. Pierrot, E. Dombre, and A. Liégeois. "Design of a Manipulator for Planetary Rovers." In Theory and Practice of Robots and Manipulators, 261–67. Vienna: Springer Vienna, 1995. http://dx.doi.org/10.1007/978-3-7091-2698-1_32.

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Conference papers on the topic "Manipulator design"

1

Trivedi, Deepak, and Christopher D. Rahn. "Shape Sensing for Soft Robotic Manipulators." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87598.

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Soft robotic manipulators are continuum robots made of soft materials that undergo continuous elastic deformation and produce motion with a smooth backbone curve. These manipulators offer significant advantages over traditional manipulators due to their ability to conform to their surroundings, move with dexterity and manipulate objects of widely varying size using whole arm manipulation. Theoretically, soft robots have infinite degrees of freedom (dof), but the number of sensors and actuators are limited. Many dofs of soft robots are not directly observable and/or controllable, complicating shape sensing and controlling. In this paper, we present two methods of shape sensing for soft robotic manipulators based on a geometrically exact mechanical model. The first method use s load cells mounted at the base of the manipulator and the second method makes use of cable encoders running through the length of the manipulator. Simulation results show an endpoint localization error of less than 3% of manipulator length.

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Kai, Yoshihiro. "Evaluation and Design of Manipulators Based on a Dynamic Accuracy Index Considering Task-Directions." In ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/dscc2013-3805.

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Some manipulation tasks have directions of end-effector acceleration of a manipulator and directions for which dynamic accuracy is required in the motion. This paper proposes an index (DAIT: Dynamic Accuracy Index for Task-directions) that allows us to evaluate the dynamic accuracy of manipulators considering the task-directions. Firstly, we derive the DAIT. Secondly, we evaluate some postures of a 2-degrees of freedom (DOF) planar manipulator on the basis of some indices that have been proposed (condition number, dynamic manipulability measure and task compatibility) and the DAIT, respectively. Thirdly, we show a manipulator’s design example based on the DAIT. Finally, from the evaluation and design results, we discuss the usefulness of the DAIT in determining the suitable postures of the manipulator for a given task and in designing the suitable manipulators for a given task.

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Trivedi, Deepak, Daniel Lesutis, and Christopher D. Rahn. "Dexterity and Workspace Analysis of Two Soft Robotic Manipulators." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28719.

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Soft robotic manipulators are continuum robots made of soft materials that undergo continuous elastic deformation and produce motion with a smooth backbone curve. These manipulators offer significant advantages over traditional manipulators due to their ability to conform to their surroundings, move with dexterity and manipulate objects of widely varying size using whole arm manipulation. Soft robotic manipulators are complex and difficult to design, model and fabricate. In this paper, we present a cost effective design for a pneumatic air muscle based soft robotic manipulator in which the actuators for the distal section extend from the base to the tip of the arm, thereby simplifying the pneumatic design and eliminating the need for endplates. We compare the workspace and dexterity of continuous tube (CT) design with a previously developed OctArm type manipulator and conclude that although the two designs have comparable workspace area, the OctArm workspace has better dexterity characteristics.

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Pryor, Mitch, Matthew Van Doren, and Delbert Tesar. "Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models." In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/dac-8651.

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Abstract Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates this requirement is diminishing in importance with increasing computer performance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored. These new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.

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Kyatkin, Alexander, and Gregory S. Chirikjian. "Numerical Synthesis of Binary Manipulator Workspaces Using the Fourier Transform on the Euclidean Motion Group." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5993.

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Abstract In this paper we apply the Fourier transform on the Euclidean motion group to solve problems in kinematic design of binary manipulators. We begin by reviewing how the workspace of a binary manipulator can be viewed as a function on the motion group, and how it can be generated as a generalized convolution product. We perform the convolution of manipulator densities, which results in the total workspace density of a manipulator composed of double the number of modules. We suggest an anzatz function which approximates the manipulator’s density in analytical form and has few free fitting parameters. Using the anzatz functions and Fourier methods on the motion group, linear and non-linear inverse problems (i. e. problems of finding the manipulator’s parameters which produce the total desired workspace density) are solved.

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Canfield, Stephen L., R. Randall Soper, and Charles F. Reinholtz. "Uniformity As the Guide to Evaluation of Dexterous Manipulator Workspaces." In ASME 1997 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/detc97/dac-3969.

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Abstract While robotic dexterity is the common measure of a manipulator’s ability to adequately and effectively position and orient a tool, it is position and direction dependent and therefore variable throughout the manipulator’s workspace. Since the ability to pose (position and orient) is the robot’s fundamental task, a parameter for evaluating this ability over all the workspace, proposed and referred to in this paper as the “dexterous measure,” is extremely important for use in selecting and evaluating manipulators. This work demonstrates that uniformity in dexterity is the essential feature of a dexterous manipulator and thus provides a correct basis for comparison of manipulators, all other factors being equal. Uniformity of dexterity is of tantamount importance because of the ability to select the relative magnitude of dexterity at the actuator level, for example by means of transmission gearing or in actuator selection. Arguments are presented for a holistic evaluation of the dexterous properties of manipulators based on the variation of dexterity over the workspace for a specific task. Application of the new measure is demonstrated by the analysis of three mechanical pointing devices for two common tasks over a hemispherical workspace.

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Jensen, Austin M., and YangQuan Chen. "Mobile Manipulator Networks: Platform Development and Applications." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34412.

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This paper presents a new platform with a team of lab-scale networked mobile robotic manipulators (SumoMote) which merges a mobile manipulator with wireless mobile sensor networks. Many existing platforms built for mobile manipulation are big and expensive. Our SumoMote is built small and inexpensive for applications where quantity is more important than size. The hardware and software of the SumoMote will be described. Then two application scenarios will be presented to illustrate SumoMote’s capability in mobile sensor networks and how the added manipulator can help.

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Nelson, Carl A., and Xiaoli Zhang. "Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28367.

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In the design of robotic manipulators for minimally invasive surgery (MIS), the spherical mechanism is a very important kinematic entity, since it can be used to mimic the constraint that the incision point provides to the surgical tool. In previous research by the authors, a bevel-gear-based spherical manipulator was designed whose actuators could be located on a fixed base link. In this paper, concepts of mechanism equivalency are applied to improving the manipulator design. The guidelines arrived at in this work can inform design of future spherical manipulators, especially those created with surgical tool manipulation in mind.

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Stiles, James M., Jae H. Chung, and Steven A. Velinsky. "Dynamic Modeling of a Non-Redundant Spatial Mobile Manipulator." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/vib-21532.

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Abstract Mobile manipulators are comprised of robot manipulators mounted upon mobile platforms which allow for both high mobility and dexterous manipulation ability. Although much research has been performed in the area of motion control of mobile manipulators, previous developed models are typically simplified and assume only planar motion and/or holonomic constraints. In this work, the equations of motion of a three dimensional non-redundant wheeled-vehicle based mobile manipulator system are developed using a Newton-Euler formulation. This model incorporates a complex tire model which accounts for tire slip and is thus applicable to high speed and high load applications. The model is systematically exercised to examine the dynamic interaction effects between the mobile platform and the robot manipulator, to illustrate the effects of wheel slip on system performance, and to establish bounds on the efficacy of the simplified existing kinematic models.

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Mohamed, Maher G. "Acceleration Analysis of Platform-Type Manipulators." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1013.

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Abstract The screw algebra is used to efficiently derive expressions in compact form for both the angular accelerations of the moving links and the linear accelerations of points on the links of platform-type manipulators. The analysis employs the property that the acceleration state of the manipulator platform can be determined by considering the acceleration states of the links of only one — any one — of the manipulator legs. The obtained expressions provide an ease in symbolic and algebraic manipulation. The analysis is then extended to specify the acceleration center point of ithe nstantaneous motion of the manipulator platform. The acceleration center point is then used in expressing the distribution of the acceleration field of the platform instant motion which is important in manipulator synthesis. The special case of planar manipulators is studied and simpler expressions are derived. Numerical examples are presented for the analysis of a 3-DOF planar platform-type and of a 6-DOF spatial “Stewart Platform” manipulators to illustrate the analysis procedure.

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Reports on the topic "Manipulator design"

1

Stoughton, R. S. Impact of access port diameter on the long reach manipulator design. Office of Scientific and Technical Information (OSTI), April 1994. http://dx.doi.org/10.2172/10145562.

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2

Kress, R. L., J. F. Jansen, L. J. Love, and A. M. H. Basher. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory. Office of Scientific and Technical Information (OSTI), September 1996. http://dx.doi.org/10.2172/665942.

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3

March-Leuba, S., J. F. Jansen, R. L. Kress, S. M. Babcock, and R. V. Dubey. Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot. Office of Scientific and Technical Information (OSTI), August 1992. http://dx.doi.org/10.2172/6956182.

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4

March-Leuba, S., J. F. Jansen, R. L. Kress, S. M. Babcock, and R. V. Dubey. Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot. Ammunition Logistics Program. Office of Scientific and Technical Information (OSTI), August 1992. http://dx.doi.org/10.2172/10191974.

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5

Kwon, D. S., S. March-Leuba, S. M. Babcock, and W. R. Hamel. Key design requirements for long-reach manipulators. Office of Scientific and Technical Information (OSTI), September 1993. http://dx.doi.org/10.2172/10106164.

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6

Kwon, D. S. Key Design Requirements for Long-Reach Manipulators. Office of Scientific and Technical Information (OSTI), January 2001. http://dx.doi.org/10.2172/814249.

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7

Gallo, Giulia. Electricity Market Manipulation: How Behavioral Modeling Can Help Market Design. Office of Scientific and Technical Information (OSTI), December 2015. http://dx.doi.org/10.2172/1233695.

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8

McCrary, Justin. Manipulation of the Running Variable in the Regression Discontinuity Design: A Density Test. Cambridge, MA: National Bureau of Economic Research, January 2007. http://dx.doi.org/10.3386/t0334.

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9

Gerard, François, Miikka Rokkanen, and Christoph Rothe. Bounds on Treatment Effects in Regression Discontinuity Designs with a Manipulated Running Variable. Cambridge, MA: National Bureau of Economic Research, December 2016. http://dx.doi.org/10.3386/w22892.

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10

McKeon, Beverley J., Joel Tropp, Mark Sheplak, and David Goldstein. Wall Turbulence with Designer Properties: Identification, Characterization and Manipulation of Energy Pathways. Fort Belvoir, VA: Defense Technical Information Center, February 2016. http://dx.doi.org/10.21236/ad1005019.

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