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P. Tauzowski¹, B. Blachowski¹, E. Zawidzka¹, Ł. Jankowski¹ and M. Zawidzki²

¹Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland
²Industrial Research Institute for Automation and Measurements PIAP, Łukasiewicz Research Network, Warsaw, Poland

doi:10.4203/ccc.9.5.2

P. Tauzowski, B. Blachowski, E. Zawidzka, Ł. Jankowski, M. Zawidzki, "Topology Optimization of a 6-DOF Arm-Z Modular Robotic Manipulator", in P. Iványi, J. Kruis, B.H.V. Topping, (Editors), "Proceedings of the Fifteenth International Conference on Computational Structures Technology", Civil-Comp Press, Edinburgh, UK, Online volume: CCC 9, Paper 5.2, 2024, doi:10.4203/ccc.9.5.2

Keywords: topology optimization, modular manipulator, multiple loadings, geometric transformations, kinematics, stress constraints.

Abstract

This contribution considers the problem of topology optimization of modular structures. A bionic trunk-like robotic “Arm-Z” manipulator is considered. The manipulator is modular, that is, it is composed of a sequence of identical modules. In geometric terms, each module is essentially an obliquely cut section of an elliptical pipe, so in the cutting plane it forms a circle. With respect to the previous module, it has a single degree of freedom: the relative twist. Therefore, the total number of the degrees of freedom of the entire manipulator equals the number of its modules. Such a manipulator belongs to the family of Extremely Modular Systems. The advantages of such systems are the economization (due to the possible mass production of modules) and robustness (replacement of a failed module instead of a complex repair).

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Front Page Browse CCC CCP CSETS CTR IJRT Other Authors Search Purchase Guide FAQ Contact us	Civil-Comp Conferences ISSN 2753-3239 CCC: 9 PROCEEDINGS OF THE FIFTEENTH INTERNATIONAL CONFERENCE ON COMPUTATIONAL STRUCTURES TECHNOLOGY Edited by: P. Iványi, J. Kruis and B.H.V. Topping Paper 5.2 Topology Optimization of a 6-DOF Arm-Z Modular Robotic Manipulator P. Tauzowski¹, B. Blachowski¹, E. Zawidzka¹, Ł. Jankowski¹ and M. Zawidzki² ¹Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland ²Industrial Research Institute for Automation and Measurements PIAP, Łukasiewicz Research Network, Warsaw, Poland doi:10.4203/ccc.9.5.2 Full Bibliographic Reference for this paper P. Tauzowski, B. Blachowski, E. Zawidzka, Ł. Jankowski, M. Zawidzki, "Topology Optimization of a 6-DOF Arm-Z Modular Robotic Manipulator", in P. Iványi, J. Kruis, B.H.V. Topping, (Editors), "Proceedings of the Fifteenth International Conference on Computational Structures Technology", Civil-Comp Press, Edinburgh, UK, Online volume: CCC 9, Paper 5.2, 2024, doi:10.4203/ccc.9.5.2 Keywords: topology optimization, modular manipulator, multiple loadings, geometric transformations, kinematics, stress constraints. Abstract This contribution considers the problem of topology optimization of modular structures. A bionic trunk-like robotic “Arm-Z” manipulator is considered. The manipulator is modular, that is, it is composed of a sequence of identical modules. In geometric terms, each module is essentially an obliquely cut section of an elliptical pipe, so in the cutting plane it forms a circle. With respect to the previous module, it has a single degree of freedom: the relative twist. Therefore, the total number of the degrees of freedom of the entire manipulator equals the number of its modules. Such a manipulator belongs to the family of Extremely Modular Systems. The advantages of such systems are the economization (due to the possible mass production of modules) and robustness (replacement of a failed module instead of a complex repair). download the full-text of this paper (PDF, 8 pages, 1067 Kb) go to the previous paper go to the next paper return to the table of contents return to the volume description
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