New Advances in Mechanism and Machine Science by Ioan Doroftei Cezar Oprisan Doina Pisla & Erwin Christian Lovasz

Author:Ioan Doroftei, Cezar Oprisan, Doina Pisla & Erwin Christian Lovasz
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

2 Requirements and Constraints

Identifying requirements is the first necessary step while formalizing a design problem. The challenge in satisfying these requirements is overcoming constraints imposed by the interaction of the system with real world. This section identifies all such requirements and constraints that will be taken into account for the synthesis of the arm architecture and dimensions.

Performing asbestos removal while the mobile base is in motion is a critical task as the control of the grinding becomes difficult. Hence, it was decided to first fix the mobile base in a given pose with stabilizers and then to operate the arm from this pose. In such scenario, as the stabilization of the mobile platform takes some time, the robotic arm must be able to clean as much area as possible for the given pose of the mobile platform. To achieve this, the workspace of the arm should be as large as possible. Thus, productivity improvement is associated with the dimensional synthesis of the arm architecture (Table 1).Table 1Requirements and constraints on the mobile manipulator expressed as design rules

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