Optimization of a Gough-Stewart platform for a prescribed attainable workspace

被引：0
|
作者：
Boudreau, R [1 ]
Gosselin, CM
机构：
[1] Univ Moncton, Ecole Genie, Moncton, NB E1A 3E9, Canada
[2] Univ Laval, Dept Genie Mecan, Quebec City, PQ G1K 7P4, Canada
来源：
MECHANISM AND MACHINE THEORY | 2001年 / 36卷 / 03期
关键词：
D O I：
10.1016/S0094-114X(00)00047-1
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a genetic algorithm approach to determine the architectural parameters of a Stewart-Gough platform that has a workspace as close as possible to a prescribed workspace. The algorithm used determines the intersection between the actual workspace and the prescribed one. The genetic algorithm then optimizes 26 architectural parameters to minimize the area of the regions that do not intersect. The optimization can be performed for a fixed orientation of the platform, for an orientation that varies about a certain axis, or for different platform elevations. (C) 2001 Published by Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：327 / 342
页数：16
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