{"title":"Selection of Manipulator Configuration for a Portable Robot for Special Tasks","authors":"Tomasz Krakówka, A. Typiak, M. Cader","doi":"10.14313/jamris/1-2022/3","DOIUrl":null,"url":null,"abstract":"Abstract This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related requirements for the functionality of the manipulator was presented on the example of the portable PIAP Patrol robot. From the set of robot tasks, the tasks that had the greatest impact on the manipulator parameters were selected. Both kinematic and static criteria were used as the basis for adopting the objective function. With the use of multi-criteria optimization tools, the manipulator configuration parameters were selected. Selected working capacities were maximized while ensuring that the imposed requirements for mass and kinematic limitations were met. The results of simulation tests were presented, and the scope of further work has been outlined.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"40 2 1","pages":"21 - 30"},"PeriodicalIF":0.0000,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Automation, Mobile Robotics and Intelligent Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.14313/jamris/1-2022/3","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 1
Abstract
Abstract This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related requirements for the functionality of the manipulator was presented on the example of the portable PIAP Patrol robot. From the set of robot tasks, the tasks that had the greatest impact on the manipulator parameters were selected. Both kinematic and static criteria were used as the basis for adopting the objective function. With the use of multi-criteria optimization tools, the manipulator configuration parameters were selected. Selected working capacities were maximized while ensuring that the imposed requirements for mass and kinematic limitations were met. The results of simulation tests were presented, and the scope of further work has been outlined.
期刊介绍：
Fundamentals of automation and robotics Applied automatics Mobile robots control Distributed systems Navigation Mechatronics systems in robotics Sensors and actuators Data transmission Biomechatronics Mobile computing
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