Synthesis Methodology for Task Based Reconfiguration of Modular Manipulator Systems

摘要: In this paper, we deal with two important issues in relation to modular reconfigurable manipulators, namely, the determination of assembly configuration optimally suited perform a specific task and synthesis fault tolerant systems. We present numerical approach yielding an that satisfies four kinematic requirements: reachability, joint limits, obstacle avoidance measure isotropy. Further, because tolerance is must critical missions may involve high costs if mission were fail due failure manipulator system, address property more detail. Initially, no limits are considered, which case prove existence manipulators develop analysis tool determine work space. also derive design templates for spatial manipulators. When introduced, analytic solutions become infeasible but instead solution procedure can be used, as illustrated through example.