Title :
Workspace optimization of a two degree of freedom mini parallel robot
Author_Institution :
Dept. of Mech. & Programming, Tech. Univ. of Cluj-Napoca
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;
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
DOI :
10.1109/AQTR.2006.254645
