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2018 | OriginalPaper | Chapter

Dimensional Synthesis of a Robotic Arm for Mobile Manipulator Using an Interactive Geo-metric Software

Authors : S. Maraje, J. C. Fauroux, B. C. Bouzgarrou, L. Adouane

Published in: New Advances in Mechanism and Machine Science

Publisher: Springer International Publishing

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Abstract

This paper aims to demonstrate a systematic procedure for the structural selection and dimensional synthesis of the arm to be integrated into a mobile manipulator. The manipulator will be utilized for Bots2ReC H2020 project which aims at developing an autonomous robotic solution for removing asbestos contamination from real world-rehabilitation sites. The synthesis procedure is initiated by identifying requirements and constraints on the mobile manipulator. The Interactive Geometric Software (IGS) is used to carry out the preliminary synthesis. The synthesis procedure highlights the utility of IGS in developing the conceptual and dimensional design of the arm and assesses its performance to satisfy given requirements and constraints. Redundancy is used to meet the desired requirements while satisfying the constraints.

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Metadata
Title
Dimensional Synthesis of a Robotic Arm for Mobile Manipulator Using an Interactive Geo-metric Software
Authors
S. Maraje
J. C. Fauroux
B. C. Bouzgarrou
L. Adouane
Copyright Year
2018
Book
New Advances in Mechanism and Machine Science

Print ISBN: 978-3-319-79110-4

Electronic ISBN: 978-3-319-79111-1

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-79111-1_25

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