Optimal Trajectory Planning of 3RRR Parallel Robot Using Ant Colony Algorithm

被引：5
作者：
Hamdoun, O. [1 ]
El Bakkali, L. [1 ]
Baghli, F. Z. [1 ]
机构：
[1] 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：
Inverse kinematic; Parallel robot; Workspace; Planning of trajectory; Ant colony algorithm;
D O I：
10.1007/978-3-319-22368-1_13
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
By taking 3RRR planar parallel robot the object of this study, this work presents an optimal trajectory planning of 3RRR parallel robot. Indeed, Parallel robot is fundamentally a closed-loop kinematic chain mechanism in which the end-effector is connected to the base by several independent kinematic chains. Due to the potential advantages of parallel robots such as high rigidity, high accuracy and great carrying payload capability, they have fascinated significant attention and interest amongst the researchers in the past decade. After describing the mechanism, a kinematic analysis is reported. Based on the geometry of t he manipulator, a workspace analysis is performed and an optimal trajectory is defined using ant colony algorithm in order to avoid singular configurations and optimize the kinetostatic performances of the manipulator.
引用
收藏
页码：131 / 139
页数：9
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