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Subject Keyword Abstract Author
 
 
Sub-workspace design of binary manipulators using active and passive joints

Yoon Young Kim
The Journal of Mechanical Science and Technology, vol. 22, no. 9, pp.1707-1715, 2008

Abstract : This paper is concerned with an efficient continuous variable optimization method for determining an optimal configuration of passive and active joints of a binary manipulator when it operates within a desired sub-workspace. When joints are passive, their states, either stretched or contracted, are also determined by the developed method. Manipulator operations in a sub-workspace can avoid unnecessary actuations, resulting in energy saving. A technique to increase the sub-workspace concentration degree for a given maximum number of allowable active joints is also suggested.

Keyword : Binary manipulator; Sub-workspace design; Active joint; Passive joint; Continuous-variable method

 
 
 
 
 
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