Optimization of Hexapod Micro Parallel Robot Using Genetic Algorithms

被引：1

作者：

Stan, Sergiu-Dan ^{[1
]}

Maties, Vistrian ^{[1
]}

Balan, Radu ^{[1
]}

Lapusan, Ciprian ^{[1
]}

机构：

[1] Tech Univ, Dept Mechatron, Cluj Napoca, Romania

来源：

INNOVATIONS AND ADVANCED TECHNIQUES IN SYSTEMS, COMPUTING SCIENCES AND SOFTWARE ENGINEERING | 2008年

关键词：

optimization; hexapod; 6 degree of freedom; Genetic Algorithms;

D O I：

10.1007/978-1-4020-8735-6_8

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro 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.

引用

页码：37 / 42

页数：6

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