UMD Theses and Dissertations

Permanent URI for this collectionhttp://hdl.handle.net/1903/3

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Author: search.filters.author.Koelln, Nathan ThomasSubject: search.filters.subject.Genetic Algorithm

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    Task-Based Mass Optimization of Reconfigurable Robotic Manipulator Systems
    (2006-09-01) Koelln, Nathan Thomas; Akin, David L; Aerospace Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    This work develops a method for implementing task-based mass optimization of modular, reconfigurable manipulators. Link and joint modules are selected from a library of potential parts and assembled into serial manipulator configurations. A genetic algorithm is used to search over the potential set of combinations to find mass-minimized solutions. To facilitate the automatic evaluation required by the genetic algorithm, Denavit-Hartenberg parameters are automatically generated from module combinations. Reconfigurable manipulators are shown to be lighter than fixed-topology manipulators, demonstrating the potential utility of reconfigurable robotics technology for mass reduction in space robots.