Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator
The inherit complexity of the determination of the optimal anatomy and structure to task requirements and specification for metamorphic manipulators poses a significant challenge to the end user, as such methods and tools to undertake such processes are required for the implementation of metamorphic...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/3/918 |
| _version_ | 1827658836243120128 |
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| author | Nikolaos Stravopodis Charalampos Valsamos Vassilis C. Moulianitis |
| author_facet | Nikolaos Stravopodis Charalampos Valsamos Vassilis C. Moulianitis |
| author_sort | Nikolaos Stravopodis |
| collection | DOAJ |
| description | The inherit complexity of the determination of the optimal anatomy and structure to task requirements and specification for metamorphic manipulators poses a significant challenge to the end user, as such methods and tools to undertake such processes are required for the implementation of metamorphic robots to real-life applications in various fields. In this work, the methodology for an offline process for the determination of the optimal anatomy maximizing performance under different requirements is presented. Such requirements considered in this work include the kinematic, kinetostatic and dynamic performance of the manipulator during task execution. The proposed methodology is then applied to a 3 D.o.F. metamorphic manipulator for different tasks. The presented results clearly show that a single metamorphic structure is able to provide the end user with different anatomies, each better suited to task specifications. |
| first_indexed | 2024-03-09T23:10:12Z |
| format | Article |
| id | doaj.art-d42c6f9f505943cb94ff412dc6471311 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T23:10:12Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-d42c6f9f505943cb94ff412dc64713112023-11-23T17:47:37ZengMDPI AGSensors1424-82202022-01-0122391810.3390/s22030918Experimental Verification of Optimized Anatomies on a Serial Metamorphic ManipulatorNikolaos Stravopodis0Charalampos Valsamos1Vassilis C. Moulianitis2Department of Products and Systems Engineering, University of Aegean, 81100 Ermoupolis, Syros, GreeceDepartment of Products and Systems Engineering, University of Aegean, 81100 Ermoupolis, Syros, GreeceDepartment of Products and Systems Engineering, University of Aegean, 81100 Ermoupolis, Syros, GreeceThe inherit complexity of the determination of the optimal anatomy and structure to task requirements and specification for metamorphic manipulators poses a significant challenge to the end user, as such methods and tools to undertake such processes are required for the implementation of metamorphic robots to real-life applications in various fields. In this work, the methodology for an offline process for the determination of the optimal anatomy maximizing performance under different requirements is presented. Such requirements considered in this work include the kinematic, kinetostatic and dynamic performance of the manipulator during task execution. The proposed methodology is then applied to a 3 D.o.F. metamorphic manipulator for different tasks. The presented results clearly show that a single metamorphic structure is able to provide the end user with different anatomies, each better suited to task specifications.https://www.mdpi.com/1424-8220/22/3/918serial modular metamorphic manipulatorsoptimal anatomy determinationanatomy to task matchingkinematic tasksdynamic tasks |
| spellingShingle | Nikolaos Stravopodis Charalampos Valsamos Vassilis C. Moulianitis Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator Sensors serial modular metamorphic manipulators optimal anatomy determination anatomy to task matching kinematic tasks dynamic tasks |
| title | Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator |
| title_full | Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator |
| title_fullStr | Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator |
| title_full_unstemmed | Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator |
| title_short | Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator |
| title_sort | experimental verification of optimized anatomies on a serial metamorphic manipulator |
| topic | serial modular metamorphic manipulators optimal anatomy determination anatomy to task matching kinematic tasks dynamic tasks |
| url | https://www.mdpi.com/1424-8220/22/3/918 |
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