Optimal Design of a 4 DOF Mobile Manipulator with Dexterity Index

In this paper , a 4DOF manipulator which can install on a mobile robot is optimized with geometrical kinematics theorems such as Dexterity . Task based approach for optimizing geometrical kinematics factors is compared with global approach . The task based approach involves five different tasks . The difference between the task base approach and the global approach varies up 18 percent for some tasks.

کلیدواژه ها:

Robotic Manipulator ، Dexterity ، Optimezing ، Kinematics Design.