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http://dx.doi.org/10.7736/KSPE.2013.30.9.961

Optimal Design of a Four-bar Linkage Manipulator for Starfish-Capture Robot Platform  

Kim, Jihoon (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Jin, Sangrok (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Kim, Jong-Won (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Seo, TaeWon (School of Mechanical Engineering, Yeungnam Univ.)
Kim, Jongwon (School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.9, 2013 , pp. 961-968 More about this Journal
Abstract
In this paper, we propose an optimal design for starfish capturing manipulator module with four-bar linkage mechanism. A tool link with compliance is attached on the four-bar linkage, and the tool repeats detaching starfish from the ground and putting it into the storage box. Since the tool is not rigid and the manipulator is operating underwater, the trajectory of the tool tip is determined by its dynamics as well as kinematics. We analyzed the trajectory of the manipulator tool tip by quasi-static analysis considering both kinematics and dynamics. In optimization, the lengths of each link and the tool stiffness are considered as control variables. To maximize the capturing ability, capturing stroke of the four-bar manipulator trajectory is maximized. Reaction force and reaction moment, and other kinematic constraints were considered as inequality constraints.
Keywords
Four-bar Linkage; Optimal Design; UVMS; Starfish Capturing; Quasi-static Analysis;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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