Rapid analysis manipulator program (RAMP) as a design tool for serial revolute robots

摘要

This paper describes a program (RAMP) which facilitates robot design analysis, project management, and design documentation. Requirements for such a program are proposed, and the literature is investigated. Design of the program is discussed in an object-oriented manner, and the system-level objects are described. The extent and method of implemented analysis objects is presented in more detail. Examples of use are discussed in terms of component selection, deflection analysis, and end-effector position error. Finally, the future augmentation of RAMP is described.