Selection of Manipulator Configuration for a Portable Robot for Special Tasks

Tomasz Krakówka; Andrzej Typiak; Maciej Cader

doi:10.14313/jamris/1-2022/3

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Selection of Manipulator Configuration for a Portable Robot for Special Tasks

Journal of Automation, Mobile Robotics and Intelligent Systems

Volume 16 (2022): Issue 1 (March 2022)

By: Tomasz Krakówka, Andrzej Typiak and Maciej Cader

Open Access

|Apr 2023

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.

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Articles in this issue

DOI: https://doi.org/10.14313/jamris/1-2022/3 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649

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Language: English

Page range: 21 - 30

Submitted on: Sep 22, 2021

Accepted on: Feb 8, 2022

Published on: Apr 4, 2023

Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

Related subjects:

Artificial intelligence,

Engineering,

Electrical engineering,

Control engineering, metrology and testing,

Mechanical engineering,

Fundamentals of mechanical engineering

© 2023 Tomasz Krakówka, Andrzej Typiak, Maciej Cader, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 16 (2022): Issue 1 (March 2022)