Complexity-based Rules for the Conceptual Design of Robotic Architectures
نویسندگان
چکیده
We propose a formulation capable of measuring the complexity of kinematic chains at the conceptual stage in robot design. First, the complexity of the three basic lower kinematic pairs, the revolute, the prismatic and the cylindrical pairs, is proposed. Then, a formulation of the complexity of kinematic chains is introduced. Next, the complexity of the basic displacement subgroups generated by the lower kinematic pairs is established. Finally, as an example, two realizations of the Schönflies displacement subgroup are compared.
منابع مشابه
A Formulation of Complexity-based Rules for the Preliminary Design Stage of Robotic Architectures
In this paper we propose a formulation capable of measuring the complexity of robotic architectures at the conceptual-design stage. The motivation lies in providing a tool to the robot designer when selecting the best alternative among various candidates generated at the early stages of the design process, when a parametric design is not yet available. While the performance evaluation of a robo...
متن کاملConceptual Design of a Gait Rehabilitation Robot
Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...
متن کاملSatellite Conceptual Design Multi-Objective Optimization Using Co Framework
This paper focuses upon the development of an efficient method for conceptual design optimization of a satellite. There are many option for a satellite subsystems that could be choice, as acceptable solution to implement of a space system mission. Every option should be assessment based on the different criteria such as cost, mass, reliability and technology contraint (complexity). In this rese...
متن کاملThe Rule-based Conceptual Design of the Architecture of Serial Schönflies-motion Generators
The conceptual design of robotic architectures, the subject of this paper, pertains to the topology of the underlying kinematic chain. Schönflies Motion Generators (SMGs) are robots capable of a special class of motions—three independent translations and one rotation about an axis of fixed direction. In this paper, synthesis rules are proposed to obtain a complete minimum set of serial topologi...
متن کاملDesign of magnetic dipole based 3D integration nano-circuits for future electronics application
Nano Magnetic Logic (NML) has been attracting application in optical computing, nanodevice formation, and low power. In this paper nanoscale architecture such as the decoder, multiplexer, and comparator are implemented on perpendicular-nano magnetic logic (pNML) technology. All these architectures with the superiority of minimum complexity and minimum delay are pointed. The proposed architectur...
متن کامل