The method of task-driven structural synthesis for the creative design of the planar manipulator

In this paper, a new structural design method based on MATLAB is developed for the configuration design and optimization of real-life planar manipulators in the high-speed press line. To explore planar manipulators with better performance, the developed method provides a suite of analysis procedures including demonstrating structural synthesis in graph theory, building conversion relations between different models, and generating new configurations of the planar manipulator. In the structural synthesis, the whole family of non-isomorphism planar 8-link kinematic chains with up to 3 prismatic pairs is generated, which lays a solid foundation for the generation of new configurations of planar manipulators. Under the expected requirements and constraints, the original planar manipulator is compared with new planar manipulators in which the developed method. The result shows that the developed method of task-driven structural synthesis is effective in generating configurations of planar manipulators and enriches related research of structural design and optimization in the field.

Automated summary

A new structural design method based on MATLAB is developed for the configuration design and optimization of real-life planar manipulators in the high-speed press line. The method provides analysis procedures including demonstrating structural synthesis in graph theory and generating new configurations of the planar manipulator. Comparison between the original planar manipulator and new planar manipulators using the developed method shows the effectiveness of task-driven structural synthesis in generating configurations.