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
fDate :
6/1/2006 12:00:00 AM
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"
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
2152-744X
DOI :
10.1109/ICMA.2006.257490
