{"id":{"repo_id":"maryland","oai_identifier":"oai:drum.lib.umd.edu:1903/3943"},"canonical_url":"https://search.dev.ndltd.org/etd/maryland/oai:drum.lib.umd.edu:1903/3943","repository":{"repo_id":"maryland","name":"University of Maryland","base_url":"https://api.drum.lib.umd.edu/server/oai/request"},"display":{"title":"Task-Based Mass Optimization of Reconfigurable Robotic Manipulator Systems","abstract":"This work develops a method for implementing task-based mass optimization of modular, reconfigurable manipulators. Link and joint modules are selected from a library of potential parts and assembled into serial manipulator configurations. A genetic algorithm is used to search over the potential set of combinations to find mass-minimized solutions. To facilitate the automatic evaluation required by the genetic algorithm, Denavit-Hartenberg parameters are automatically generated from module combinations. Reconfigurable manipulators are shown to be lighter than fixed-topology manipulators, demonstrating the potential utility of reconfigurable robotics technology for mass reduction in space robots.","abstract_html":"This work develops a method for implementing task-based mass optimization of modular, reconfigurable manipulators. Link and joint modules are selected from a library of potential parts and assembled into serial manipulator configurations. A genetic algorithm is used to search over the potential set of combinations to find mass-minimized solutions. To facilitate the automatic evaluation required by the genetic algorithm, Denavit-Hartenberg parameters are automatically generated from module combinations. Reconfigurable manipulators are shown to be lighter than fixed-topology manipulators, demonstrating the potential utility of reconfigurable robotics technology for mass reduction in space robots.","abstract_has_math":false,"creators":["Koelln, Nathan Thomas"],"institution":null,"degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Aerospace Engineering","school":null,"contributors":[],"advisors":["Akin, David L"],"committee_chairs":[],"committee_members":[],"year":2006,"date_issued":"2006-09-01","date_published":"2006-09-01","updated_at":"2026-07-24T03:02:29Z","subjects":[],"languages":["en_US"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1903/3943","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Akin, David L"]},{"key":"dc:contributor.department","label":"Department","values":["Aerospace Engineering"]},{"key":"dc:creator","label":"Author","values":["Koelln, Nathan Thomas"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2006-09-12T06:08:08Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2006-09-12T06:08:08Z"]},{"key":"dc:date.issued","label":"Date","values":["2006-09-01"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_US"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1903/3943"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This work develops a method for implementing task-based mass optimization of modular, reconfigurable manipulators. Link and joint modules are selected from a library of potential parts and assembled into serial manipulator configurations. A genetic algorithm is used to search over the potential set of combinations to find mass-minimized solutions. To facilitate the automatic evaluation required by the genetic algorithm, Denavit-Hartenberg parameters are automatically generated from module combinations. Reconfigurable manipulators are shown to be lighter than fixed-topology manipulators, demonstrating the potential utility of reconfigurable robotics technology for mass reduction in space robots."]},{"key":"dc:format.mimetype","label":"Dc Format Mimetype","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Task-Based Mass Optimization of Reconfigurable Robotic Manipulator Systems"]}]}],"canonical_facts":{"dc:contributor.advisor":["Akin, David L"],"dc:contributor.department":["Aerospace Engineering"],"dc:creator":["Koelln, Nathan Thomas"],"dc:date.accessioned":["2006-09-12T06:08:08Z"],"dc:date.available":["2006-09-12T06:08:08Z"],"dc:date.issued":["2006-09-01"],"dc:description.abstract":["This work develops a method for implementing task-based mass optimization of modular, reconfigurable manipulators. Link and joint modules are selected from a library of potential parts and assembled into serial manipulator configurations. 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