Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지
DOI QR코드

DOI QR Code

Optimal Design of a Four-bar Linkage Manipulator for Starfish-Capture Robot Platform

불가사리 채집용 4절 링크 매니퓰레이터의 최적 설계

  • Kim, Jihoon (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Jin, Sangrok (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Jong-Won (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam Univ.) ;
  • Kim, Jongwon (School of Mechanical and Aerospace Engineering, Seoul National Univ.)
  • 김지훈 (서울대학교 기계항공공학부 대학원) ;
  • 진상록 (서울대학교 기계항공공학부 대학원) ;
  • 김종원 (서울대학교 기계항공공학부 대학원) ;
  • 서태원 (영남대학교 기계공학부) ;
  • 김종원 (서울대학교 기계항공공공학부)
  • Received : 2013.04.12
  • Accepted : 2013.08.14
  • Published : 2013.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose an optimal design for starfish capturing manipulator module with four-bar linkage mechanism. A tool link with compliance is attached on the four-bar linkage, and the tool repeats detaching starfish from the ground and putting it into the storage box. Since the tool is not rigid and the manipulator is operating underwater, the trajectory of the tool tip is determined by its dynamics as well as kinematics. We analyzed the trajectory of the manipulator tool tip by quasi-static analysis considering both kinematics and dynamics. In optimization, the lengths of each link and the tool stiffness are considered as control variables. To maximize the capturing ability, capturing stroke of the four-bar manipulator trajectory is maximized. Reaction force and reaction moment, and other kinematic constraints were considered as inequality constraints.

Keywords

References

  1. Kim, T., Kim, H., Kim, C., Baek, C., Park, C., and Hwang, G., "Drag type apparatus for capturing starfish," KOR Patent, No. 1003790240000, 2003.
  2. Kim, T., Kim, H., Kim, C., Baek, C., Park, C., and Hwang, G., "Roller type gear for continuous harvesting of starfish," KOR Patent, No. 1003790270000, 2003.
  3. Han, J. and Gye, H., "An apparatus and method for capturing starfish in the sea," KOR Patent, No. 1020070111077, 2007.
  4. Lee, M., "Jeollabuk-do purchases starfish from fishermen," http://www.newsis.com/ar_detail/view.html? cID=&ar_id=NISX20120826_0011392418(Accessed 31 January 2012)
  5. Lee, J., "100 Scuba Divers Exterminating Starfish," http://www.ilyoseoul.co.kr/news/articleView.html?idx no=69000 (Accessed 31 January 2012)
  6. Zheng, T., Branson, D. T., Rongjie, K., Cianchetti M., Guglielmino, E., Follador, M., Medrano-Cerda, G. A., Godage, I. S., and Caldwall, D. G., "Dynamic Continuum Arm Model for Use with Underwater Robotic Manipulators Inspired by Octopus Vulgaris," IEEE International Conference on Robotics and Automation, pp. 5289-5294, 2012.
  7. Kim, J., Kim., J., and Choi, D., "Optimization of Hind Foot Trajectory Using Four Bar Linkage for Lizard Inspired Robot," Proc. of KSPE Autumn Conference, pp. 209-210, 2012.
  8. Kim, H., "Optimal Design of Four-bar Mechanism in Consideration of Tolerances and Clearances," Proc. of KSPE Autumn Conference, Vol. 2, No. 3, pp.70-76, 1985.
  9. Arnaud, H. and Yannick A., "Walking Trajectory Optimization with Rotation of the Feet for a Planar Bipedal Robot with Four-bar Knees," The ASME 2012 11th Biennial Conference On Engineering Systems Design and Analysis, 2012.
  10. Nariman-Zadeh, N., Felezi, M., Jamali, A., and Ganji, M., "Pareto Optimal Synthesis of Four-bar Mechanisms for Path Generation," Mechanism and Machine Theory, Vol. 44, No. 1, pp. 180-191, 2009. https://doi.org/10.1016/j.mechmachtheory.2008.02.006
  11. Khorshidi, M., Soheilypour, M., Peyro, M., Atai, A., and Shariat Panahi, M., "Optimal Design of Four-bar Mechanisms Using a Hybrid Multi-objective GA with Adaptive Local Search," Mechanism and Machine Theory, Vol. 46, No. 10, pp. 1453-1465, 2011. https://doi.org/10.1016/j.mechmachtheory.2011.05.006
  12. Jin, S., Lee, S., Kim, J., and Seo, T., "Starfish Capture Robotic Platform: Conceptual Design and Analysis," J. Korean Soc. Precis. Eng., Vol. 29, No. 9, pp. 978- 985, 2012. https://doi.org/10.7736/KSPE.2012.29.9.978