Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility

In this article, an optimization method is proposed for the dimensional synthesis of robotic manipulators with limited mobility, i.e. less than 6 degrees-of-freedom (“DoF”), a prescribed set tasks in constrained environment. Since these cannot achieve full 6-DoF they are able to follow only certain paths position and orientation space. While most common approach problem employs pure path-planning algorithms, operations narrow complex environments might require changes robot design too. For reason, paper presents improved which aims minimize error synthesis. First, novel methodology that combines path planning algorithm has been order optimize both geometry pose given points. Then, validated 4-DoF high-precision laser aeroengines as case study. The example shows procedure provides stable high convergence rate short time solution robots mobility highly scenarios.