NDLI: A CAD system for designing robotic manipulators

Content Provider	IEEE Xplore Digital Library
Author	Kunwoo Lee Tortorelli, D.
Copyright Year	1985
Description	Author affiliation: University of Illinois at Urbana-Champaign, Urbana, IL (Kunwoo Lee)
Abstract	An interactive procedure will be derived to facilitate a designer in choosing proper actuators and their locations and optimal dimensions on each component in a robot so that the robot has the same time constant for any direction of motion and less nonlinear effects. An integrated solution of the following problems will be sought for to derive the procedure. A data structure to represent a robot in a data-base should be created. A proper objective function, which represents the dynamic characteristics of robots (i.e., time constants and nonlinear effects), has to be defined. A method of computing the objective function from a set of optimization variables should be derived. As a case study, a five degree of freedom RHINO robot will be optimized. This paper is an extended abstract because the project is still on the way.
Starting Page	376
Ending Page	380
File Size	353520
Page Count	5
File Format	PDF
DOI	10.1109/ROBOT.1985.1087336
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1985-03-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Design automation Manipulators Actuators Computational geometry Service robots Data structures Robotic assembly Optimization methods Solid modeling Industrial engineering
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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