Computer-aided form synthesis and optimal design of robot manipulators

Souran Manoochehri, A. A. Seireg

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

The developed computer program to implement the methodology operates in two separate modes. The first deals with the dynamic synthesis of user defined topologies in the second mode, the designer provides only the required task, then the program will generate optimum manipulator configuration by systematic evaluation and ranking of plausible alternatives. The methodology simultaneously incorporates the kinematic and dynamic synthesis as well as optimal actuation and stress analysis in an integrated design process. The procedure relies on the systematic composition of plausible manipulators from tabulated basic elements. The optimization strategy for synthesis and control utilizes a dynamic programming approach which makes it possible to select the optimum parameters in a stage-wise manner without sacrificing the interactions inherent in such highly coupled non-linear systems.

Original languageEnglish (US)
Pages163-170
Number of pages8
StatePublished - Dec 1 1988
Externally publishedYes
EventTrends and Developments in Mechanisms, Machines, and Robotics - 1988 - Kissimmee, FL, USA
Duration: Sep 25 1988Sep 28 1988

Other

OtherTrends and Developments in Mechanisms, Machines, and Robotics - 1988
CityKissimmee, FL, USA
Period9/25/889/28/88

Fingerprint

Manipulators
Robots
Stress analysis
Dynamic programming
Computer program listings
Nonlinear systems
Kinematics
Topology
Chemical analysis
Optimal design

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Manoochehri, S., & Seireg, A. A. (1988). Computer-aided form synthesis and optimal design of robot manipulators. 163-170. Paper presented at Trends and Developments in Mechanisms, Machines, and Robotics - 1988, Kissimmee, FL, USA, .
Manoochehri, Souran ; Seireg, A. A. / Computer-aided form synthesis and optimal design of robot manipulators. Paper presented at Trends and Developments in Mechanisms, Machines, and Robotics - 1988, Kissimmee, FL, USA, .8 p.
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Manoochehri, S & Seireg, AA 1988, 'Computer-aided form synthesis and optimal design of robot manipulators' Paper presented at Trends and Developments in Mechanisms, Machines, and Robotics - 1988, Kissimmee, FL, USA, 9/25/88 - 9/28/88, pp. 163-170.

Computer-aided form synthesis and optimal design of robot manipulators. / Manoochehri, Souran; Seireg, A. A.

1988. 163-170 Paper presented at Trends and Developments in Mechanisms, Machines, and Robotics - 1988, Kissimmee, FL, USA, .

Research output: Contribution to conferencePaper

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Manoochehri S, Seireg AA. Computer-aided form synthesis and optimal design of robot manipulators. 1988. Paper presented at Trends and Developments in Mechanisms, Machines, and Robotics - 1988, Kissimmee, FL, USA, .