General manipulators synthesis for a given workspace

摘要

This paper deals with the kinematic synthesis of manipulators. A discussion of the problem of determining the kinematic parameters of a manipulator is based on the assumption that the locus of its end-effector has to cover a region which is as close as possible to the shape of a desired volume. The approach centers on the identification of intrinsic parameters of a volume to define an error between the two volumes. Furthermore, an efficient method to determine six degrees of freedom manipulator workspace is developed. Then, the synthesis problem is formulated as an optimization problem where the manipulator which minimize the error between its workspace and the desired volume is looked for. The determination of a planar and a spatial serial manipulator able to reach a given region will illustrate the approach suggested here.