Type Selection of Robot and Gripper Kinematic Topology Using Expert Systems

Abstract

Robots are used for many different applications including underwater recovery, welding, inspection, pick-and-place operations, space exploration, and assembly. Each task im parts different functional demands on the robot topology including the gripper. An improper choice of the basic kine matic chain may demand sophisticated control algorithms to undo poor type selection. This paper suggests techniques of type synthesis based on graph theory and expert systems that will aid in proper kine matic topology. This new area of kinematic research has high potential for aiding the robot designer.