Rapid analysis manipulator program (RAMP) as a design tool for serial revolute robots

Author

Hill, Bunker ; Tesar, Delbert

Author_Institution

Dept. of Mech. Eng., Texas Univ., Austin, TX, USA

Volume

4

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2896

Abstract

This paper describes a program (RAMP) which facilitates robot design analysis, project management, and design documentation. Requirements for such a program are proposed, and the literature is investigated. Design of the program is discussed in an object-oriented manner, and the system-level objects are described. The extent and method of implemented analysis objects is presented in more detail. Examples of use are discussed in terms of component selection, deflection analysis, and end-effector position error. Finally, the future augmentation of RAMP is described

Keywords

manipulator dynamics; manipulator kinematics; object-oriented programming; project management; software tools; component selection; deflection analysis; design documentation; design tool; end-effector position error; project management; rapid analysis manipulator program; robot design analysis; serial revolute robots; system-level objects; Design engineering; Feedback; History; Kinematics; Knowledge engineering; Manipulators; Mechanical engineering; Project management; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.509152

Filename

509152