DocumentCode
3623738
Title
Optimization of Workspace of a 2 DOF parallel robot
Author
Stan Sergiu;Vistrian Maties;Radu Balan
Author_Institution
Department of Mechanics and Programming, Technical University of Cluj-Napoca, C. Daicoviciu no.15, Cluj-Napoca 400020, Romania. sergiustan@hotmail.com
fYear
2006
fDate
6/1/2006 12:00:00 AM
Firstpage
165
Lastpage
170
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
"Parallel robots","Kinematics","Manipulators","Mechatronics","Design optimization","Sampling methods","Design automation","Robotics and automation","Automatic programming","Parallel programming"
Publisher
ieee
Conference_Titel
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
ISSN
2152-7431
Print_ISBN
1-4244-0465-7
Electronic_ISBN
2152-744X
Type
conf
DOI
10.1109/ICMA.2006.257490
Filename
4026074
Link To Document