DocumentCode
3076273
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
fYear
2011
fDate
16-17 July 2011
Firstpage
377
Lastpage
380
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Science and Society (ISCCS), 2011 International Symposium on
Conference_Location
Kota Kinabalu
Print_ISBN
978-1-4577-0644-8
Type
conf
DOI
10.1109/ISCCS.2011.108
Filename
6004464
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