Abstract:
Presented in this paper is a 2-dof robomech that carries two end effectors to perform two functions simultaneously. The robomech has a 7R architecture consisting of two triad wings connected to form two cells. The over-constrained kinematic chain cannot traverse continuous trajectories but may be synthesized to move the end effectors through a set of desired locations. The article presents the architecture of the proposed robomech, establishes its kinematic relations and constraints, and provides dimensional synthesis scheme based on genetic algorithm and gradient search methods. Two case studies are included to demonstrate the applicability of the proposed robomech. Copyright © 2005 by ASME.