Task-Based Mass Optimization of Reconfigurable Robotic Manipulator Systems
| dc.contributor.advisor | Akin, David L | en_US |
| dc.contributor.author | Koelln, Nathan Thomas | en_US |
| dc.contributor.department | Aerospace Engineering | en_US |
| dc.contributor.publisher | Digital Repository at the University of Maryland | en_US |
| dc.contributor.publisher | University of Maryland (College Park, Md.) | en_US |
| dc.date.accessioned | 2006-09-12T06:08:08Z | |
| dc.date.available | 2006-09-12T06:08:08Z | |
| dc.date.issued | 2006-09-01 | en_US |
| dc.description.abstract | 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. | en_US |
| dc.format.extent | 1731668 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1903/3943 | |
| dc.language.iso | en_US | |
| dc.subject.pqcontrolled | Engineering, Aerospace | en_US |
| dc.subject.pquncontrolled | Reconfigular Robotics | en_US |
| dc.subject.pquncontrolled | Modular Robotics | en_US |
| dc.subject.pquncontrolled | Genetic Algorithm | en_US |
| dc.subject.pquncontrolled | On-Orbit Servicing | en_US |
| dc.title | Task-Based Mass Optimization of Reconfigurable Robotic Manipulator Systems | en_US |
| dc.type | Thesis | en_US |
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