Design methods have been improving with an increasing level of algorithmic support for some time. The most recent advances include generative design and various optimization methods. However, the automated design tools are often focused on a single stage of the design process, for example, kinematics design, mechanical topology, or drive selection. In this paper, we show the whole design process of a robotic manipulator in an automated workflow. The method consisted of two main parts: a genetic optimization of the kinematic structure and an iterative automated CAD design. The method was then applied to a case study in which a manipulator with five degrees of freedom for a handling task was designed.

In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation.

1. In recent years, additive manufacturing, commonly referred to as 3D printing, has experienced rapid growth and has become an important complement to conventional manufacturing technologies such ...

Designing a robotic workplace is a time and knowledge intensive process. It requires systems engineers who specialise in the design of this type of workplace and have the appropriate know-how in this area. Due to the time-consuming nature and the small number of experts, a small number of solutio...