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

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 201-203)

Edited by:

Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang

Pages:

1213-1216

DOI:

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

Citation:

S. X. Tian and S. Z. Wang, "The Optimal Design of Work Location for a RRR 3-DoF Manipulator", Advanced Materials Research, Vols. 201-203, pp. 1213-1216, 2011

Online since:

February 2011

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Price:

$35.00

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