TaskOriented Design Optimization for a Mobile Painting Robot * Under the specific task requirement of mobile manipulators, the workspace analysis plays an indispensable role in the design and optimization of their geometric structure. To generate the most suitable workspace for mobile manipulators and cater to specific task requirement, the geometric structure parameter of mobile manipulators should be optimized and this need to consider the effective information from operated target. When deal with one specific operating task by painting one prototype room composed of vertical plane walls and ceilings, this research presents one novel method for designing and optimizing the structure parameter of mobile painting robot. To be specific, the feature extraction is executed for the operated targetprototype room, and the corresponding feature constraints function is established. Closely following this, under the given optimized goals, the optimized structure parameter of the mobile painting robot for specific operation will be obtained. Whatxe2x80x99s more, to verify the validation of obtained structure parameter, the painting simulation platform via VREP software is established, and the painting path which is attached with painting effect for painting the whole prototype room is analyzed initially. Last but not least, the smooth implementation of simulation process demonstrates that the optimized structure parameter can fulfill the task requirement, and this has actually confirmed one feasible way of taskoriented structure optimization for mobile painting robot.

Kinematic Performance and Task Planning Analysis of a Parameter Reconfigurable Parallel Mechanism This paper proposed a parameter reconfigurable parallel mechanism (PRPM), which mechanical structure has been introduced. Kinematic performance and task planning analysis has been carried out. DOF of moving platform is calculated based on screw theory in the first place. Then, inverseforward kinematics, Jacobian matrix and performance indexes, which include dexterity, stiffness, workspace, singularity are analyzed. On the basis of kinematics, task planning analysis is presented. The analysis proposed a method, which is used to acquire appropriate parameters of PRPM according to a specific task. The task workspace can be fulfilled by applying suitable structural angle range of PRPM. Example case is carried out by using capsule shape workspace as task. This improves the using ratio and efficiency of the workspace of PRPM. A 3D printed prototype also has been carried out.