Abstract
Practically robots involve in highly dynamic environments to execute specific tasks. To ensure a maximal performance, the optimization of architecture as well as the design parameters are frequently required. This is recurrent and more significant when the task requirements related to safety or other operating conditions must be guaranteed. The present work focuses on two important issues constantly in interaction in robotics, namely optimal robot design and task-based design of robots. The first one deals with optimization approaches and solving methods in order to design robot parts, which includes their dimensioning, according to a number of optimality criteria. The second features a wider set of goals, concerning the selection of the requested number of degrees of freedom as well as the kind of joints to be used, the architecture type, suitable mechanical designs, and control architecture. This step is well known as task-oriented robot design. The main objective of this chapter is to present the most recent research works in the application of optimization and search techniques to task-based robot design.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Seidmann, A., Arbel, A., Shapira, R.: A two-phase analytic approach to robotic system design. Robot. Comput.-Integr. Manuf. 1(2), 181–190 (1984)
Tsai, Y., Soni, A.: Workspace synthesis of 3R, 4R, 5R, and 6R robots. J. Mech. Mach. Theor. 20(6), 555–563 (1985)
Ceccarelli, M., Lanni, C.: A multi-objective optimum design of general 3R manipulators for prescribed workspace limits. J. Mech. Mach. Theor. 39, 119–132 (2003)
Laribi, M.A., Carbone, G., Zeghloul, S.: On the optimal design of cable driven parallel robot with a prescribed workspace for upper limb rehabilitation tasks. J. Bionic Eng. 16, 503–513 (2019). https://doi.org/10.1007/s42235-019-0041-4
Ben, H.I., Laribi, M., Mlika, A., Romdhane, L., Zeghloul, S.: Dimensional synthesis and performance evaluation of four translational parallel manipulators. Robotica 39(2), 233–249 (2021)
Russo, M., Raimondi, L., Dong, X., Axinte, D., Kell, J.: Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility. Robot. Comput.-Integr. Manuf. 69 (2021)
Tabandeh, S., Melek, W., Biglarbegian, M., Won, S., Clark, C.: A memetic algorithm approach for solving the task-based configuration optimization problem in serial modular and reconfigurable robots. Robotica 34(9), 1979–2008 (2016). https://doi.org/10.1017/S0263574714002690
Valsamos, C., Moulianitis, V., Aspragathos, N.: Index based optimal anatomy of a metamorphic manipulator for a given task. Robot. Comput. Integr. Manuf. 28(4), 517–529 (2012)
Paredis, C.J.J., Khosla, P.K.: Kinematic design of serial link manipulators from task specifications. Int. J. Robot. Res. 12(3), 274–287 (1993)
Heidari, O., Wolbrecht, E.T., Perez-Gracia, A., Yihun, Y.S.: A task-based design methodology for robotic exoskeletons. J. Rehabil. Assistive Technol. Eng. (2018). https://doi.org/10.1177/2055668318800672
Laribi, M.A., Romdhane, L., Zeghloul, S.: Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace. Mech. Mach. Theor. 42(7), 859–870 (2007)
Carbone, G., Ottaviano, E., Ceccarelli, M.: An optimum design procedure for both serial and parallel manipulators. Proc. Inst. Mech. Eng. C J. Mech. Eng. Sci. 221(7), 829–843 (2007)
Ceccarelli, M.: Fundamentals of Mechanics of Robotics Manipulation. Kluwer, Dordrecht (2004)
Essomba, T., Laribi, M.A., Zeghloul, S., Poisson, G.: Optimal synthesis of a spherical parallel mechanism for medical application. Robotica 34(03), 671–686 (2016). https://doi.org/10.1017/S0263574714001805
Davidson, J.K., Hunt, K.H.: Robots and Screw Theory. Oxford University Press, Oxford (2004)
Wu, X.Y., Bai, S.P.: Analytical determination of shape singularities for three types of parallel manipulators. Mech. Mach. Theor. 149, 103812 (2020)
Park, F.C.: Optimal robot design and differential geometry. ASME J. Mech. Des. 117(B), 87–92 (1995)
Merlet, J.-P.: Jacobian, manipulability, condition number, and accuracy of parallel robots. ASME J. Mech. Des. 128(1), 199–206 (2006)
Li, C.Y., Angeles, J., Guo, H.W.: Mobility and singularity analyses of a symmetric multi-loop mechanism for space applications. Proc. Inst. Mech. Eng. C. J. Mech. Eng. Sci. (2021)
Friedl, W., Chalon M.: FAS A flexible antagonistic spring element for a high performance over. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1366–1372 (2011). https://doi.org/10.1109/IROS.2011.6094569
Newman, J.A.: A generalized acceleration model for brain injury threshold (GAMBIT). In: Proceedings of the International IRCOBI Conference on the Biomechanics of Impact, Zurich (1986)
Cordero, C.A., Carbone, G., Ceccarelli, M., Echávarri, J., Muñoz, J.L.: Experimental tests in human–robot collision evaluation and characterization of a new safety index for robot operation. Mech. Mach. Theor. 80, 184–199 (2014)
Fosch-Villaronga, E., Mahler, T.: Cybersecurity, safety and robots: Strengthening the link between cybersecurity and safety in the context of care robots. Comput. Law Secur. Rev. 41 (2021). https://doi.org/10.1016/j.clsr.2021.105528
Strandberg, J., Pini, A., Häger Charlotte, K., Schelin, L.: Analysis choices impact movement evaluation: a multi-aspect inferential method applied to kinematic curves of vertical hops in knee-injured and asymptomatic persons. Front. Bioeng. Biotechnol. 9 (2021). https://doi.org/10.3389/fbioe.2021.645014
Siciliano, B., Khatib, O.: Handbook of Robotics. Springer, Berlin, Heidelberg (2008)
Nouaille, L., Laribi, M.A., Nelson, C.A., Essomba, T., Poisson, G., Zeghloul, S.: Design process for robotic medical tool guidance manipulators. Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 230(2), 259–275. https://doi.org/10.1177/0954406215590639
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this chapter
Cite this chapter
Laribi, M.A., Carbone, G., Zeghloul, S. (2023). Robot Design: Optimization Methods and Task-Based Design. In: Carbone, G., Laribi, M.A. (eds) Robot Design. Mechanisms and Machine Science, vol 123. Springer, Cham. https://doi.org/10.1007/978-3-031-11128-0_5
Download citation
DOI: https://doi.org/10.1007/978-3-031-11128-0_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-11127-3
Online ISBN: 978-3-031-11128-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)