Design and optimization of 3R manipulators using the workspace features

被引：25
|
作者：
Bergamaschi, PR
Nogueira, AC
Saramago, SDP [1 ]
机构：
[1] Univ Fed Uberlandia Santa Monica, Coll Math, BR-38408100 Uberlandia, MG, Brazil
[2] Setor Univ, Fed Univ Goias, BR-75701220 Catalao, Go, Brazil
来源：
APPLIED MATHEMATICS AND COMPUTATION | 2006年 / 172卷 / 01期
关键词：
robot manipulator; workspace; optimization; singularities; envelope;
D O I：
10.1016/j.amc.2005.02.024
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
The objective of this work is to contribute with a study of the workspace boundary of manipulators with three-revolute joints (3R). An optirnization problem is formulated in which the workspace volume is the objective function. Penalties are imposed to minimize the voids and control the total area, forcing it to occupy a pre-established area. Numerical examples are given and the optimization problem is investigated using sequential techniques. (c) 2005 Elsevier Inc. All rights reserved.
引用
收藏
页码：439 / 463
页数：25
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