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Proceedings of the 17th International Conference on Manufacturing Systems – ICMaS
Published by Editura Academiei Române, ISSN 1842-3183
Volume No. 3, 2008
University POLITEHNICA of Bucharest, Machine and Manufacturing Systems Department
Bucharest, Romania, 13-14 November, 2008
pp. 087-092
SYNTHESIS AND SELECTION OF OPTIMAL STRUCTURES FOR MACRO-ROBOTS
Penka GENOVA, Kostadin KOSTADINOV, Vladimir KOTEV
Abstract: More and more technological operations become robotized. The present study focuses on problems of structural synthesis and optimization, referring predominantly to macro-robots with closed kinematic chains (CKC), but theory is valid for the structures of micro-robots as well. In addition to the known structural dependencies, the authors have reached two new ones, whereby the synthesis turns from formal permutation of the connection of links with kinematic pairs (КP) into a purposeful creation of KC and the extraction of isomorphic structures. Through the introduction of restrictions and optimum criteria, sets of structures are selected, which are suitable for robot manipulation systems.
Key words: structural synthesis, selection of optimal structures.
Authors:
Ph.D. Eng. Penka GENOVA, Prof., Bulgarian Academy of Sciences, Central Laboratory of Mechatronics and Instrumentation,
E-mail: pgen@tu-sofia.bg
Ph.D. Eng. Kostadin KOSTADINOV, Assoc. Prof., Bulgarian Academy of Sciences-Institute of Mechanics,
E-mail: kostadinov@imbm.bas.bg
Ph.D. Eng. Vladimir KOTEV, Bulgarian Academy of Sciences-Institute of Mechanics,
E-mail: kotev@mech.bas.bg
Electronic mail: orgcom@icmas.eu / General Information: http://www.edition2009.icmas.eu/