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Stackable 5R chains with multiple end-effectors: Architecture and optimum synthesis

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dc.contributor.author Smaili A.
dc.contributor.author Chaaya B.
dc.contributor.editor
dc.date 2006
dc.date.accessioned 2017-10-04T11:16:04Z
dc.date.available 2017-10-04T11:16:04Z
dc.date.issued 2006
dc.identifier
dc.identifier.isbn 079183784X
dc.identifier.isbn 9780791837849
dc.identifier.issn
dc.identifier.uri http://hdl.handle.net/10938/15031
dc.description.abstract Presented in this paper is a 4-dof robomech consisting of a stack of two five-bar (5R) chains with multiple end effectors to perform two distinct yet coordinated tasks simultaneously. The over-constrained kinematics chain cannot traverse continuous trajectories but may be synthesized to move the end effectors through a set of desired locations. The article elaborates on the architecture of the proposed robomech, establishes its kinematics relations and constraints, and provides dimensional synthesis scheme based on genetic algorithm and gradient search methods. A case study featuring the robomech performing spot welding operation along two distinct trajectories is included to demonstrate the applicability of the proposed robomech. Copyright © 2006 by ASME.
dc.format.extent
dc.language English
dc.relation.ispartof Publication Name: Proceedings of the ASME Design Engineering Technical Conference; Conference Title: 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006; Conference Date: 10 September 2006 through 13 September 2006; Conference Location: Philadelphia, PA; Publication Year: 2006; Volume: 2006;
dc.relation.ispartofseries
dc.relation.uri
dc.source Scopus
dc.subject.other
dc.title Stackable 5R chains with multiple end-effectors: Architecture and optimum synthesis
dc.type Conference Paper
dc.contributor.affiliation Smaili, A., Department of Mechanical Engineering, American University of Beirut, P. O. Box 11-0236, Riad El Solh 1107 2020 Beirut, Lebanon
dc.contributor.affiliation Chaaya, B., Department of Mechanical Engineering, American University of Beirut, P. O. Box 11-0236, Riad El Solh 1107 2020 Beirut, Lebanon
dc.contributor.authorAddress Smaili, A.; Department of Mechanical Engineering, American University of Beirut, P. O. Box 11-0236, Riad El Solh 1107 2020 Beirut, Lebanon; email: asmaili@aub.edu.lb
dc.contributor.authorCorporate University: American University of Beirut; Faculty: Faculty of Engineering and Architecture; Department: Mechanical Engineering;
dc.contributor.authorDepartment Mechanical Engineering
dc.contributor.authorDivision
dc.contributor.authorEmail
dc.contributor.faculty Faculty of Engineering and Architecture
dc.contributor.authorInitials
dc.contributor.authorOrcidID
dc.contributor.authorReprintAddress
dc.contributor.authorResearcherID
dc.contributor.authorUniversity American University of Beirut
dc.description.cited
dc.description.citedCount
dc.description.citedTotWOSCount
dc.description.citedWOSCount
dc.format.extentCount 1
dc.identifier.articleNo
dc.identifier.coden
dc.identifier.pubmedID
dc.identifier.scopusID 33751307684
dc.identifier.url
dc.publisher.address
dc.relation.ispartofConference Conference Title: 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 : Conference Date: 10 September 2006 through 13 September 2006 , Conference Location: Philadelphia, PA.
dc.relation.ispartofConferenceCode 68587
dc.relation.ispartofConferenceDate 10 September 2006 through 13 September 2006
dc.relation.ispartofConferenceHosting
dc.relation.ispartofConferenceLoc Philadelphia, PA
dc.relation.ispartofConferenceSponsor
dc.relation.ispartofConferenceTitle 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
dc.relation.ispartofFundingAgency
dc.relation.ispartOfISOAbbr
dc.relation.ispartOfIssue
dc.relation.ispartOfPart
dc.relation.ispartofPubTitle Proceedings of the ASME Design Engineering Technical Conference
dc.relation.ispartofPubTitleAbbr Proc. ASME Des. Eng. Tech. Conf.
dc.relation.ispartOfSpecialIssue
dc.relation.ispartOfSuppl
dc.relation.ispartOfVolume 2006
dc.source.ID
dc.type.publication Series
dc.subject.otherAuthKeyword Genetic algorithm
dc.subject.otherAuthKeyword Robomech
dc.subject.otherAuthKeyword Stackable chains
dc.subject.otherAuthKeyword Synthesis optimization
dc.subject.otherChemCAS
dc.subject.otherIndex Genetic algorithms
dc.subject.otherIndex Kinematics
dc.subject.otherIndex Trajectories
dc.subject.otherIndex Welding
dc.subject.otherIndex Gradient search methods
dc.subject.otherIndex Robomech
dc.subject.otherIndex Stackable chains
dc.subject.otherIndex Synthesis optimization
dc.subject.otherIndex Structural analysis
dc.subject.otherKeywordPlus
dc.subject.otherWOS


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