Title :
Parameters Optimization Design for the 4-PTT Parallel Robot Mechanism Based on Workspace and Dexterity
Author :
Chen, Haizhen ; Zou, Zhongyue ; Song, Hongpeng
Author_Institution :
Sch. of Mech. Eng., Shandong Univ. of Technol., Zibo, China
Abstract :
In this paper, the inverse position, workspace and dexterity of the 4-PTT parallel mechanism were analyzed. Based on genetic algorithm, the structural parameters were optimized with the main objective function method, while workspace and dexterity were taken as the optimized goal. The optimization data and atlases were obtained with Matlab. By contrasting the results, we can see that performance of the mechanism is good after optimization. The study provides foundation for future application.
Keywords :
Jacobian matrices; dexterous manipulators; genetic algorithms; mathematics computing; position control; 4-PTT parallel robot mechanism; Matlab; dexterity; function method; genetic algorithm; inverse position; parameters optimization design; Concurrent computing; Design automation; Design optimization; Foot; Intelligent robots; MATLAB; Optimization methods; Parallel robots; Robotics and automation; Structural engineering; GAOT; dexterity; parallel mechanism; workspace;
Conference_Titel :
Intelligent Computation Technology and Automation, 2009. ICICTA '09. Second International Conference on
Conference_Location :
Changsha, Hunan
Print_ISBN :
978-0-7695-3804-4
DOI :
10.1109/ICICTA.2009.528
