Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern

This paper considers a particular case of a robot body design method which determines degrees of freedom (DOFs) number and link parameters to maximize a target task performance, and feasibility of this design method is validated by several experiments. In this paper, the target task is to throw a ba...

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Autores principales:	Tetsuro MIYAZAKI, Kazushi SANADA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2017
Materias:	robot body design robot motion design ball throwing task joint degrees of freedom number link parameters Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/e27b43fe50c74dc093d800827a95b5fe
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spelling	oai:doaj.org-article:e27b43fe50c74dc093d800827a95b5fe2021-11-26T07:11:27ZExperimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern2187-974510.1299/mej.17-00147https://doaj.org/article/e27b43fe50c74dc093d800827a95b5fe2017-08-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/4/5/4_17-00147/_pdf/-char/enhttps://doaj.org/toc/2187-9745This paper considers a particular case of a robot body design method which determines degrees of freedom (DOFs) number and link parameters to maximize a target task performance, and feasibility of this design method is validated by several experiments. In this paper, the target task is to throw a ball a long distance, and a multi DOFs ball throwing robot is designed and manufactured for the experimental validations. Design parameters are the robot body parameters and its motion pattern, and they are designed to maximize ball reaching distance under long throw task conditions. To define the link lengths and the robot DOFs number as design parameters, it is assumed that robot links have identical actuators, and these link parameters are defined as functions of link lengths. This design method is applied to the manufactured ball throwing robot, and its body parameters and motion pattern are designed. The ball reaching distance is changed along with the DOFs number, and as a result, 5 DOFs robot body and its throwing motion are obtained, and the ball reaching distance is maximized. Finally, the ball throwing experiments of the designed 2 DOFs and 5 DOFs robots are executed in each 8 trial. Average values of the ball reaching distance are close to the calculation results, therefore, the feasibility of the calculation results is demonstrated.Tetsuro MIYAZAKIKazushi SANADAThe Japan Society of Mechanical Engineersarticlerobot body designrobot motion designball throwing taskjoint degrees of freedom numberlink parametersMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 4, Iss 5, Pp 17-00147-17-00147 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	robot body design robot motion design ball throwing task joint degrees of freedom number link parameters Mechanical engineering and machinery TJ1-1570
spellingShingle	robot body design robot motion design ball throwing task joint degrees of freedom number link parameters Mechanical engineering and machinery TJ1-1570 Tetsuro MIYAZAKI Kazushi SANADA Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern
description	This paper considers a particular case of a robot body design method which determines degrees of freedom (DOFs) number and link parameters to maximize a target task performance, and feasibility of this design method is validated by several experiments. In this paper, the target task is to throw a ball a long distance, and a multi DOFs ball throwing robot is designed and manufactured for the experimental validations. Design parameters are the robot body parameters and its motion pattern, and they are designed to maximize ball reaching distance under long throw task conditions. To define the link lengths and the robot DOFs number as design parameters, it is assumed that robot links have identical actuators, and these link parameters are defined as functions of link lengths. This design method is applied to the manufactured ball throwing robot, and its body parameters and motion pattern are designed. The ball reaching distance is changed along with the DOFs number, and as a result, 5 DOFs robot body and its throwing motion are obtained, and the ball reaching distance is maximized. Finally, the ball throwing experiments of the designed 2 DOFs and 5 DOFs robots are executed in each 8 trial. Average values of the ball reaching distance are close to the calculation results, therefore, the feasibility of the calculation results is demonstrated.
format	article
author	Tetsuro MIYAZAKI Kazushi SANADA
author_facet	Tetsuro MIYAZAKI Kazushi SANADA
author_sort	Tetsuro MIYAZAKI
title	Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern
title_short	Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern
title_full	Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern
title_fullStr	Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern
title_full_unstemmed	Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern
title_sort	experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern
publisher	The Japan Society of Mechanical Engineers
publishDate	2017
url	https://doaj.org/article/e27b43fe50c74dc093d800827a95b5fe
work_keys_str_mv	AT tetsuromiyazaki experimentalvalidationofanoptimumdesignmethodforaballthrowingrobotconsideringdegreesoffreedomlinkparametersandmotionpattern AT kazushisanada experimentalvalidationofanoptimumdesignmethodforaballthrowingrobotconsideringdegreesoffreedomlinkparametersandmotionpattern
_version_	1718409749778661376

Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern

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