Method, device and computer-readable storage medium for designing serial manipulator
US11766775B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 20, 2021 |
| Grant date | Sep 26, 2023 |
| Priority date | — |
| Expiry date | Jan 11, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40527
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A design method of serial manipulator that comprises an end effector, a number of random-access links, and a number of motors, includes: obtaining a desired motion profile of the end effector; discretizing the desired motion profile into a plurality of points, wherein each of the points carries information of speed, acceleration, and force/torque of the end effector at the point; determining the number of degrees of freedom of the serial manipulator, and initializing the length of each of the links and the motor type of each of the motors; and at each of the points, optimizing the initialized lengths of the links and the motor types of the motors by calculating a dynamic manipulability ellipsoid at the end effector, to obtain desired lengths of the links and desired motor types of the motors, which allows the end effector to execute the desired motion profile under predetermined constraints.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.