Design analysis and optimization of 6-DOF telemanipulator based on performance indices

摘要

In contrast to general industrial robots, which are operated in normal environments and are easily accessible by human workers, telemanipulators are typically designed to perform specific and extreme tasks in hazardous areas. Teleoperation systems are difficult-to-equip fully intuitive or automated control systems because these are the kinds of manipulator systems used as substitutes to perform tasks that humans have to guide directly because they may require tough, sensitive, or sophisticated handling motions. Basically, these kinds of tasks are difficult to remotely perform through a slave manipulator operated by a human unless modification and optimization of the system are conducted. In this regard, the target system dealt within this study has similar disadvantages even though it has a high degree of freedom (DOF) arm structure. The performance of the current system was quantitatively evaluated to optimize the structure according to the considered main tasks. This work presents the various performance indices utilized and analyzes the current design of the considered telemanipulator system. An optimal design approach using the parameters associated with the frequent motions of the considered 6-DOF telemanipulator is then proposed based on the conducted analyses.