<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related requirements for the functionality of the manipulator was presented on the example of the portable PIAP Patrol robot. From the set of robot tasks, the tasks that had the greatest impact on the manipulator parameters were selected. Both kinematic and static criteria were used as the basis for adopting the objective function. With the use of multi-criteria optimization tools, the manipulator configuration parameters were selected. Selected working capacities were maximized while ensuring that the imposed requirements for mass and kinematic limitations were met. The results of simulation tests were presented, and the scope of further work has been outlined.</p>
</abstract>

This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related requirements for the functionality of the manipulator was presented on the example of the portable PIAP Patrol robot. From the set of robot tasks, the tasks that had the greatest impact on the manipulator parameters were selected. Both kinematic and static criteria were used as the basis for adopting the objective function. With the use of multi-criteria optimization tools, the manipulator configuration parameters were selected. Selected working capacities were maximized while ensuring that the imposed requirements for mass and kinematic limitations were met. The results of simulation tests were presented, and the scope of further work has been outlined.

Selection of Manipulator Configuration for a Portable Robot for Special Tasks

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Selection of Manipulator Configuration for a Portable Robot for Special Tasks"}

This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related...

Selection of Manipulator Configuration for a Portable Robot for Special Tasks

Publié en ligne: 04 avr. 2023

Pages: 21 - 30

Reçu: 22 sept. 2021

Accepté: 08 févr. 2022

DOI: https://doi.org/10.14313/jamris/1-2022/3

Mots clés
Field robotics, EOD robots, manipulators

© 2022 Tomasz Krakówka et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Selection of Manipulator Configuration for a Portable Robot for Special Tasks

Publié en ligne: 04 avr. 2023

Pages: 21 - 30

Reçu: 22 sept. 2021

Accepté: 08 févr. 2022

DOI: https://doi.org/10.14313/jamris/1-2022/3

Mots clésField robotics, EOD robots, manipulators

© 2022 Tomasz Krakówka et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
Field robotics, EOD robots, manipulators