The Optimal Design of Work Location for a RRR 3-DoF Manipulator

Shi Xiang Tian; Sheng Ze Wang

doi:10.4028/www.scientific.net/AMR.201-203.1213

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 201-203The Optimal Design of Work Location for a RRR...

The Optimal Design of Work Location for a RRR 3-DoF Manipulator

Abstract:

In this paper, an algorithm is proposed to determine the optimal work location to minimize the sum of the joint angle. The algorithm use the sum of the three joint angle as the objective function, through analysis of workable domain, coordinates transformation, globe search, to get the optimal work position of the manipulator. Simulation shows that the proposed algorithm works well for stipulated aim.

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Periodical:

Advanced Materials Research (Volumes 201-203)

Pages:

1213-1216

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.201-203.1213

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Online since:

February 2011

Authors:

Shi Xiang Tian, Sheng Ze Wang

Keywords:

Algorithm (GA), Manipulator, Objective Function, Optimal Design

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References

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