Title :

Optimal Work Space of Parallel Continuum Manipulator Consisting of Compact Bionic Handling Arms

Author(s) :

Singh, Inderjeet [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Singh, Manarshhjot [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Pathak, Pushparaj [Auteur]
Merzouki, Rochdi [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]

Conference title :

IEEE Conference on Robotics and Biomimetics (ROBIO 2017)

City :

Macau

Country :

Chine

Start date of the conference :

2017-12-05

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]
Sciences de l'ingénieur [physics]/Automatique / Robotique
Sciences de l'ingénieur [physics]/Mécanique [physics.med-ph]/Biomécanique [physics.med-ph]

English abstract : [en]

Parallel continuum manipulators are the main research focus these days. Parallel manipulators have other advantages than serial manipulators in terms of acceleration and positioning. In this work, we proposed the use of ...
Show more >Parallel continuum manipulators are the main research focus these days. Parallel manipulators have other advantages than serial manipulators in terms of acceleration and positioning. In this work, we proposed the use of two Compact Bionic Handling Arm (CBHA) manipulators, attaching them to a common platform, to constitute a parallel continuum manipulator. A relation is developed for optimal platform length as a function of the inter-distance between bases of two arms, by using optimization of the volume of the common work space realized from multiple CBHA. The work is extended to parallel continuum manipulator consisting of three CBHA manipulators. Same for this case, after identifying work space of this parallel continuum manipulator, a relation is developed between different design parameters of manipulator using optimization of volume of its work space. As the work space is the main limitation in case of parallel manipulators, this approach to generate relation is useful for rigid as well as continuum manipulators to design them for optimal work space as per required application.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL