Combined Structural and Dimensional Synthesis of Task Redundant Robot Manipulators
Final Report Abstract
In the completed project “combined structural and dimensional synthesis of task-redundant robot manipulators” the design process of parallel kinematic machines was investigated theoretically and simulatively. In the case of task redundancy, a robot has more movable degrees of freedom than necessary for a task, which is the case, for example, of milling or drilling processes due to the tool rotation. These degrees of freedom are used for optimization in the proposed automated design process. It was shown that this allows the dimensions of the robot structure to be adapted to use this degree of freedom more effectively than in the standard case without optimization. The resulting dimensions can be better than non-optimally dimensioned structures with respect to a target criterion such as maximum actuator force (for actuator selection) or energy consumption. In later applications, energy can thus be saved over the lifetime of the robot, provided that the energy saving potentials created in the design process are also used in the path planning during operation. The developed methods are suitable to automate the design process of parallel kinematic machines and thus to find better and more complete possible realizations of a new robot for a task to be solved in a short time, compared to a manual or only partially automated design process. The software tools developed in the project were published under free license and can be used and further developed by research institutes as well as companies from the fields of special mechanical engineering and automation technology. Suitable fields of application are industrial machining and handling tasks but also niche topics for which there are no suitable commercially available robots. Additional findings of the project concern optimal path planning using both local methods such as gradient projection on the level of acceleration, and global methods such as dynamic programming. The methods are applicable for optimization in the design process as well as in operation.
Publications
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A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. Communications in Computer and Information Science, 350-364. Springer International Publishing.
Schappler, Moritz; Job, Tim-David & Ortmaier, Tobias
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Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics, 338-349. SCITEPRESS - Science and Technology Publications.
Schappler, Moritz & Ortmaier, Tobias
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Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks. Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, 65-77. Springer International Publishing.
Schappler, Moritz; Jahn, Philipp; Raatz, Annika & Ortmaier, Tobias
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“Geometric Model for Serial-Chain Robot Inverse Kinematics in the Case of Two Translational DoF with Spatial Rotation and Task Redundancy”. In: International Symposium on Advances in Robot Kinematics. Springer. 2022.
M. Schappler, T. Blum & T.-D. Job
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“Inverse Kinematics for Task Redundancy of Symmetric 3T1R Parallel Manipulators using Tait-Bryan-Angle Kinematic Constraints”. In: International Symposium on Advances in Robot Kinematics. Springer. 2022.
M. Schappler
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“Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots using Tait-Bryan-Angle Kinematic Constraints”. In: International Symposium on Advances in Robot Kinematics. Springer. 2022.
M. Schappler
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Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection. Lecture Notes in Electrical Engineering, 106-131. Springer International Publishing.
Schappler, Moritz
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Task-Specific Synthesis and Design of a mobile 6-DoF Hexa Parallel Robot for Weed Control”. In: Proceedings of the 2nd IFToMM for Sustainable Development Goals Workshop.
T. Sterneck, J. Fettin & M. Schappler
