Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 27, Issue 2, Pages 460-470Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2010.09.006
Keywords
Hybrid head mechanism; Groundhog-like robot; Performance modeling; Multi-population evolution
Funding
- Natural Sciences and Engineering Research Council of Canada (NSERC)
- Canada Research Chairs program
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Since mining accidents severely threaten production safety, robotic assistant systems can play an important role by searching and rescuing survivors in hostile underground environments. Accordingly, this paper focuses on the design, modeling and optimization of a 4U (P) under barS+PU spatial hybrid manipulator, which serves as the dexterous head section of a quadrupedal, groundhog-like mine rescue robot. This biologically inspired mechanism has three degrees of freedom (DOF), one translation and two rotations. Additionally, a passive leg is connected to both centers of the base and the moving platform in order to constrain undesirable motion. In order to evaluate the operational capacity, an analysis of the mobility and the inverse kinematics are conducted. The reachable workspace is generated with a boundary-searching discretization approach, and the local and global performance atlas, including stiffness and dexterity, are investigated. The multi-population evolution of structural and behavioral parameters is implemented to seek the optimal dexterity of the hybrid head mechanism. (C) 2010 Elsevier Ltd. All rights reserved.
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