Design-Simulation-Optimization Package For A Generic 6-DOF Manipulator With A Spherical Wrist

Robot manipulators are built to meet certain predetermined performance requirements. The question of whether the robot will have the desired functionality (e.g. dexterity, accuracy, reliability, speed, etc.) needs to be answered before the robot is actualThis is an Author's Original Manuscript of an Article submitted for consideration in the Systems Analysis Modelling Simulation copyright Taylor & Francis; Systems Analysis Modelling Simulation is available online at http://www.tandfonline.com/http://www.tandfonline.com/doi/abs/10.1080/0232929031000150337#.VFpIMWNNfH

An Application of Robotic Optimization: Design for a Tire Changing Robot

The final publication is available at link.springer.com.Robotics experiences tremendous evolutions every year. Once a topic is mainly approached at research centers, read through highly specialized books and viewed distantly on scientific channels, nowadays it is a common and very approachable subject among undergraduate students of many universities. More and more robots are being designed every day, demanding technological implementation and production. This progress does not come without its glitches, however. A common and increasing problem that appears is the insufficient testing, simulation and optimization steps that a robotic construction needs to pass in order to achieve an efficient design. These steps prove to be difficult and sometimes discouraging, resulting in laborious work, due to lack of tools. This paper presents an example of a robotic optimization and testing, using a generic software package, applied on a custom manipulator, a tire-changing robot. Although the manipulator is designed with its own simulation and control package, it may lack optimality or validity. We implemented a different software package, focused on optimization and control of simple generic robots (XXX.RRR types) and apply the package on the tire-changer manipulator. The results provide improvements for the primary controlling software and confirm its correctness.http://link.springer.com/article/10.1023/A%3A100812123054

Design-Simulation-Optimization Package For A Generic 6-DOF Manipulator With A Spherical Wrist

Robot manipulators are built to meet certain predetermined performance requirements. The question of whether the robot will have the desired functionality (e.g. dexterity, accuracy, reliability, speed, etc.) needs to be answered before the robot is actualThis is an Author's Original Manuscript of an Article submitted for consideration in the Systems Analysis Modelling Simulation copyright Taylor & Francis; Systems Analysis Modelling Simulation is available online at http://www.tandfonline.com/http://www.tandfonline.com/doi/abs/10.1080/0232929031000150337#.VFpIMWNNfH