The optimization of the workspace of reduction robot

Author

Xu, Ying ; Liu, Zhiming ; Wang, Yun ; Li, Changsheng

Author_Institution

Sch. of Mech. Eng. & Autom., Beihang Univ., Beijing, China

fYear

2011

fDate

9-11 Sept. 2011

Firstpage

1724

Lastpage

1727

Abstract

This paper presents a method to estimate the workspace volume of a reduction robot and an optimization model is established to achieve a larger workspace. To calculate and compare the workspace volume under different structure parameters, a method is proposed to search the border of the workspace. This model shows the influence of the moving platform radius and the length of the legs on the workspace of the robot: while the moving platform keeps an angle position of (5, 5, 5), the smaller the moving platform radium is, the larger the robot workspace would be; the workspace would enlarge several times, if the legs´ length range increases from 70mm to 100mm. We selected a group of more reasonable structure parameters to improve the robot workspace.

Keywords

medical robotics; mobile robots; optimisation; moving platform radius; optimization model; reduction robot workspace; structure parameter; workspace volume estimation; Automation; Educational institutions; Legged locomotion; Manipulator dynamics; Optimization; Robot sensing systems; Reduction Robot; Structure Optimization; Workspace;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Communications and Control (ICECC), 2011 International Conference on

Conference_Location

Zhejiang

Print_ISBN

978-1-4577-0320-1

Type

conf

DOI

10.1109/ICECC.2011.6066700

Filename

6066700