Title :
Structure Optimization of a Parallel Robot Mechanism Based on Driving Velocity
Author :
Guan, Liwen ; Zhang, Hao
Author_Institution :
Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China
Abstract :
The optimization method for the structure of a 6-DOF parallel robot mechanism is presented for minimizing the driving velocity. Firstly, the velocity model is given according to the kinematics theory of rigid body, which effectively avoids the fussy derivation process. The velocity target function is obtained by inequality transformation. Finally the optimization is performed by GA with global search capability. Comparison result verified the optimization method.
Keywords :
genetic algorithms; robot kinematics; search problems; 6-DOF parallel robot mechanism; GA optimization; driving velocity; fussy derivation process; global search capability; inequality transformation; kinematic theory; structure optimization; velocity target function; Algorithm design and analysis; Bismuth; Fasteners; Genetic algorithms; Next generation networking; Optimization; Parallel robots; Driving velocity; GA; Parallel robot mechanism; Structure optimization;
Conference_Titel :
Computer Science and Society (ISCCS), 2011 International Symposium on
Conference_Location :
Kota Kinabalu
Print_ISBN :
978-1-4577-0644-8
DOI :
10.1109/ISCCS.2011.108
