Vijaykumar, R, Waldron, K & Tsai, M 1986, 'Geometric Optimization Of Serial Chain Manipulator Structures For Working Volume And Dexterity', International Journal Of Robotics Research, vol. 5, no. 2, pp. 91-103.
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© 1986, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved. The system integration issues associated with the design of Rovers for Mars grounfi surface operations are addressed in this paper. Requirements are established for both long distance traverse between geology sites and for geologic survey operations. To satisfy these mission requirements, a semi-autonomous vehicle design has been proposed and its performance capabilities are assessed. Furthermore, the mobility, power consumption, coordination and control (maneuverability), and reliability Issues associated with the design of mobility systems to permit vehicle traverse over rugged terrain are examined and the direction of future work required to address these issues Is outlined.
The design of the geometry of a walking machine depends to a considerable extent on the applications for which the machine is intended. Nevertheless, there are some very general principles and approaches which may be applied. This paper deals with the geometric design of a hexapodal walking machine which is to possess optimum mobility on varied terrain. This problem both illustrates, and serves as a vehicle for, the development of these general principles.
An algorithm for generating the workspace for manipulator geometries involving orthogonal and parallel joint axes was developed. This algorithm can handle industrial robots with revolute joints as well as with prismatic joints. In addition, a technique based on the Gaussian Divergence Theorem has been introduced for computation of workspace volume, centroid, and moments of inertia about the three principal axes. This unique technique permits a closed form, high accuracy, quantitative measurement of geometric properties. These algorithms have been implemented in an interactive computer graphic program providing an efficient method for design and evaluation of the regional structure of an industrial robot.
A simple expert system for initial selection of bearings is described in this paper. This selection process represents a node in a design decision network, and is typical of a number of situations in which the designer must select from among diverse possibilities. The expert system is intended to be the front end of a program that includes algorithms for the sizing of bearings of selected type, and which accesses a data base of standard sizes with load life ratings for those types which are available in this form.
: This paper provides a description of the Adaptive Suspension Vehicle. The vehicle uses a legged, rather than a wheeled or tracked, locomotion principle, and is intended to demonstrate the feasibility of systems of this type for transportation in very rough terrain conditions. The vehicle is presently under test, with installation and validation of software modules for different operational conditions scheduled for completion by the end of 1986. © 1986 IEEE