DocumentCode
2819702
Title
Workspace optimization of a two degree of freedom mini parallel robot
Author
Stan, S.
Author_Institution
Dept. of Mech. & Programming, Tech. Univ. of Cluj-Napoca
Volume
2
fYear
2006
fDate
25-28 May 2006
Firstpage
278
Lastpage
283
Abstract
In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using genetic algorithms
Keywords
genetic algorithms; multi-robot systems; robot kinematics; genetic algorithms; mini parallel robot; monoobjective optimum design; numerical aspects; two degree of freedom; workspace optimality criterion; Design optimization; Genetic algorithms; Manipulators; Parallel programming; Parallel robots; Robot kinematics; Robot programming; Sampling methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on
Conference_Location
Cluj-Napoca
Print_ISBN
1-4244-0360-X
Electronic_ISBN
1-4244-0361-8
Type
conf
DOI
10.1109/AQTR.2006.254645
Filename
4022968
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