Optimal design of 3R manipulators by using classical techniques and simulated annealin
Document title: Optimal design of 3R manipulators by using classical techniques and simulated annealin
Journal: Journal of the Brazilian Society of Mechanical Sciences
Database: PERIÓDICA
System number: 000312126
ISSN: 0100-7386
Authors: 1
2
Institutions: 1Universita degli Studi di Cassino, Laboratorio de Robótica y Mecatrónica, Cassino, Frosinone. Italia
2Universidade Federal de Uberlandia, Uberlandia, Minas Gerais. Brasil
Year:
Season: Nov
Volumen: 24
Number: 4
Pages: 293-301
Country: Brasil
Language: Inglés
Document type: Artículo
Approach: Aplicado
English abstract In this paper, the optimum design of 3R manipulators is formulated and solved by using an algebraic formulation of workspace boundary. A manipulator design can be approached as a problem of optimization, in which the objective functions are the size of the manipulator and workspace volume; and the constrains can be given as a prescribed workspace volume. The numerical solution of the optimization problem is investigated by using two different numerical techniques, namely, sequential quadratic programming and simulated annealing. Numerical examples illustrate a design procedure and show the efficiency of the proposed algorithms
Disciplines: Ingeniería
Keyword: Ingeniería de control,
Robótica,
Cinemática computacional,
Manipuladores,
Diseño,
Optimización
Keyword: Engineering,
Control engineering,
Robotics,
Computational kinematics,
Manipulators,
Design,
Optimization
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