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

Volume

3

fYear

2009

fDate

10-11 Oct. 2009

Firstpage

253

Lastpage

256

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICICTA.2009.528

Filename

5287951