Parametric Design Optimization of Two Link Robotic Manipulator

被引：0
|
作者：
Baghli, F. Z. [1 ]
El Bakkali, L. [1 ]
Hamdoun, O. [1 ]
机构：
[1] Univ Abdelmalek Essaadi, Modeling & Simulat Mech Syst Lab, Fac Sci, BP 2121, Mhannech 93002, Tetouan, Morocco
来源：
ROBOTICS AND MECHATRONICS | 2016年 / 37卷
关键词：
Robot manipulator; Global conditioning index; Workspace; Design optimization;
D O I：
10.1007/978-3-319-22368-1_3
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this work we present an optimal design for a type of serial link manipulators based on multi objective optimization. The objective functions considered are Global Conditioning index (GCI) and workspace volume, the first indice is based on condition number of robot manipulator Jacobian matrix and the objective functions are optimized simultaneously to improve the dexterity as well as the workspace volume which represents the working capacity.
引用
收藏
页码：25 / 32
页数：8
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