Geometric Synthesis of Manipulators Using the Monte Carlo Method

[+] Author and Article Information
J. Rastegar

Department of Mechanical Engineering, State University of New York At Stony Brook, Stony Brook NY 11794-2300

B. Fardanesh

Electrical Engineering Department, Manhattan College, Riverdale, NY 10471

J. Mech. Des 112(3), 450-452 (Sep 01, 1990) (3 pages) doi:10.1115/1.2912629 History: Received October 01, 1987; Online June 02, 2008


A new approach to the solution of problems of geometric synthesis of manipulators is presented. It utilizes the Monte Carlo method, is general, and can be applied to any type of manipulator. Joint motion limitations can be included. The task space may have any arbitrary geometry. The allowable manipulator installation space is determined. Synthesis for a specified number of possible configurations (branches), and optimization of task space geometry are discussed.

Copyright © 1990 by The American Society of Mechanical Engineers
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