Workspace Optimization of 3PRR Parallel manipulator for drilling operation using Genetic Algorithm

被引：0

作者：

Kumar, Prabhat ^{[1
]}

Sudheer, A. P. ^{[1
]}

机构：

[1] Natl Inst Technol, Calicut, Kerala, India

来源：

PROCEEDINGS OF THE ADVANCES IN ROBOTICS (AIR'17) | 2017年

关键词：

Parallel manipulator; Workspace; Genetic Algorithm;

D O I：

10.1145/3132446.3134881

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Manufacturing field is always focused on high productivity and higher flexibility machines. This can be achieved by the use of parallel manipulators. There are lots of advantages of Parallel robotic manipulators such as high load/weight ratio, velocity, stiffness, precision, and inertia. This work proposes a 3-DoF parallel manipulator for performing drilling operation whose workspace is optimized using Genetic Algorithm method. The workspace of the manipulator is analyzed and plotted in MATLAB software. The complete CAD model of the machine is designed in SOLIDWORKS software and the Motion analysis is also performed in order to trace the path of the tool. The proposed machine is fabricated and the drilling operation is performed in real time.

引用

页数：5

共 21 条

[1]

Conti, 1998, NISTIR, V6135

[2]

Feng, 2001, IEEE T ROBOTIC AUTOM, V17, P939

[3] DETERMINATION OF THE WORKSPACE OF 6-DOF PARALLEL MANIPULATORS [J].