Task-Based Optimal Design of Metamorphic Service Manipulators-Reference-Cited by-同舟云学术

Task-Based Optimal Design of Metamorphic Service Manipulators

Published:2016-09-08 Issue:6 Volume:8 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Moulianitis Vassilis C.¹,Synodinos Aris I.²,Valsamos Charalampos D.²,Aspragathos Nikos A.³

Affiliation:

1. Department of Product and Systems Design Engineering, University of the Aegean, Ermoupolis 84100, Greece e-mail:

2. Robotics Group, Department of Mechanical Engineering and Aeronautics, University of Patras, Patras 26504, Greece e-mail:

3. Professor Robotics Group, Department of Mechanical Engineering and Aeronautics, University of Patras, Patras 26504, Greece e-mail:

Abstract

In this paper, a method for the optimal design of metamorphic manipulators is presented, using path dexterity indices in diverse service tasks. The Swedish massage service is chosen as an application, due the very dissimilar techniques that can be challenging for fixed anatomy manipulators. These techniques are presented and a mapping to dexterity indices is proposed based on each technique's requirements. A method for the evaluation of metamorphic anatomies over tasks is proposed, and the optimized anatomy of a metamorphic manipulator is determined. Finally, an illustrative example is presented for three tasks, where the advantages of the anatomy optimization are demonstrated.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4033665/6256744/jmr_008_06_061011.pdf

Reference24 articles.

1. Koga, H., Usuda, Y., Matsuno, M., Ogura, Y., Ishii, H., Solis, J., Takanishi, A., and Katsumata, A., 2007, “Development of Oral Rehabilitation Robot for Massage Therapy,” 6th International Special Topic Conference on Information Technology Applications in Biomedicine, ITAB 2007, Tokyo, Japan, Nov. 8–11, pp. 111–114.10.1109/ITAB.2007.4407357

2. Kang, C.-G., ju Lee, B., xu Son, I., and Kim, H.-Y., 2007, “Design of a Percussive Massage Robot Tapping Human Backs,” 16th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2007, Jeju, Korea, Aug. 26–29, pp. 962–967.10.1109/ROMAN.2007.4415222

3. Jones, K., and Du, W., 2003, “Development of a Massage Robot for Medical Therapy,” 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, July 20–24, Vol. 2, pp. 1096–1101.10.1109/AIM.2003.1225495

4. Position/Force Control of Medical Robot Interacting With Dynamic Biological Soft Tissue,2014

5. Anthropomorphic Robotic Arm With Integrated Elastic Joints for TCM Remedial Massage;Robotica,2015

Cited by 11 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Joint Space Trajectory Controller for Modular Reconfigurable Manipulator;Advances In Robotics - 6th International Conference of The Robotics Society;2023-07-05

2. Unified modeling of unconventional modular and reconfigurable manipulation system;Robotics and Computer-Integrated Manufacturing;2022-12

3. Metamorphic Manipulators;Robot Design;2022-10-02

4. Optimal Synthesis of Unconventional Links for Modular Reconfigurable Manipulators;Journal of Mechanical Design;2022-04-29

5. Optimal Architecture Planning of Modules for Reconfigurable Manipulators;Robotica;2020-12-18