A study on dynamically reconfigurable robotic systems. (2nd report. Optimal configuration of manipulator based on cell structured robotic systems).

摘要

This paper deals with the method of the optimal configuration of a manipulator based on cell structurization, as one of the methods of determining kinds of cell and order in reconfiguration. The proposed methods can determine the joint location, the degree of freedom and the link length using the characteristics of cell structures of the DRRS. The method takes into account both cases of the fixed-type and the mobile-type of manipulators. The proposed performance index for the selection of both types under given tasks is based on the number of works, the accuracy of the manipulator in positioning, the required torque for keeping the attitude, the displacement between given works and the cost of cells in the configuration. The simulation results are also given to clarify the difference of performance for each task. Thus the DRRS can realize the idea of self-organizing system.