Task dependent synthesis of some geometrical parameters of a robot mechanism

摘要

SUMMARY This paper deals with the synthesis of a robot mechanism, which has an open kinematic chain structure. The aim of the synthesis is to find optimal mechanism link lengths and the elevation of the robot mechanism base, with respect to the arbitrary chosen task which is described in a task space. A mathematical model, which describes the problem and enables one to use a nonlinear optimization algorithm, was developed. The usefulness of the approach is demonstrated by the example of the Manutec r3 mechanism with a prescribed task for the robot's end-effector.