Optimal design of 3R manipulators by using classical techniques and simulated annealin
Título del documento: Optimal design of 3R manipulators by using classical techniques and simulated annealin
Revista: Journal of the Brazilian Society of Mechanical Sciences
Base de datos: PERIÓDICA
Número de sistema: 000312126
ISSN: 0100-7386
Autores: 1
2
Instituciones: 1Universita degli Studi di Cassino, Laboratorio de Robótica y Mecatrónica, Cassino, Frosinone. Italia
2Universidade Federal de Uberlandia, Uberlandia, Minas Gerais. Brasil
Año:
Periodo: Nov
Volumen: 24
Número: 4
Paginación: 293-301
País: Brasil
Idioma: Inglés
Tipo de documento: Artículo
Enfoque: Aplicado
Resumen en inglés 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
Disciplinas: Ingeniería
Palabras clave: Ingeniería de control,
Robótica,
Cinemática computacional,
Manipuladores,
Diseño,
Optimización
Keyword: Engineering,
Control engineering,
Robotics,
Computational kinematics,
Manipulators,
Design,
Optimization
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