Task-Based Optimal Design of Metamorphic Service ManipulatorsSource: Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 006::page 61011Author:Moulianitis, Vassilis C.
,
Synodinos, Aris I.
,
Valsamos, Charalampos D.
,
Aspragathos, Nikos A.
DOI: 10.1115/1.4033665Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a method for the optimal design of metamorphic manipulators is presented, using path dexterity indices in diverse service tasks. The Swedish massage service is chosen as an application, due the very dissimilar techniques that can be challenging for fixed anatomy manipulators. These techniques are presented and a mapping to dexterity indices is proposed based on each technique's requirements. A method for the evaluation of metamorphic anatomies over tasks is proposed, and the optimized anatomy of a metamorphic manipulator is determined. Finally, an illustrative example is presented for three tasks, where the advantages of the anatomy optimization are demonstrated.
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| contributor author | Moulianitis, Vassilis C. | |
| contributor author | Synodinos, Aris I. | |
| contributor author | Valsamos, Charalampos D. | |
| contributor author | Aspragathos, Nikos A. | |
| date accessioned | 2017-11-25T07:18:11Z | |
| date available | 2017-11-25T07:18:11Z | |
| date copyright | 2016/09/08 | |
| date issued | 2016 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_008_06_061011.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4235026 | |
| description abstract | In this paper, a method for the optimal design of metamorphic manipulators is presented, using path dexterity indices in diverse service tasks. The Swedish massage service is chosen as an application, due the very dissimilar techniques that can be challenging for fixed anatomy manipulators. These techniques are presented and a mapping to dexterity indices is proposed based on each technique's requirements. A method for the evaluation of metamorphic anatomies over tasks is proposed, and the optimized anatomy of a metamorphic manipulator is determined. Finally, an illustrative example is presented for three tasks, where the advantages of the anatomy optimization are demonstrated. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Task-Based Optimal Design of Metamorphic Service Manipulators | |
| type | Journal Paper | |
| journal volume | 8 | |
| journal issue | 6 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4033665 | |
| journal fristpage | 61011 | |
| journal lastpage | 061011-9 | |
| tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 006 | |
| contenttype | Fulltext |