Workspace Description and Evaluation of Master-Slave Dual Hydraulic Manipulators

Nuclear power plant emergency robots are used to respond significant public safety incidents, such as uncontrolled radioactive sources and nuclear catastrophe leaks. However, there no standardized evaluation criteria for the optimal design of robots. We offer a quantitative analytic algorithm optimizing address this issue. The method optimizes structural parameters robot in accordance with workspace by analyzing, comparing, evaluating workspace. approach comprises constructing kinematic model mechanical arm proposing an optimization based on alpha shape accurately describe manipulator workspace; employing proposed convex hull quantitatively analyze evaluate generated different solutions terms area, volume, task demand, Structural Length Index Global Conditioning Index; determining robotic joint selecting optimum solution. Using suggested algorithm, we optimize master slave arms Theoretical calculations simulation results demonstrate that is effective practical technique not only describes but also